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All figures (12)
TABLE I IDENTIFIED SPINDLE GAINS AND STANDARD DEVIATION
Fig. 8. General block diagram of the musculoskeletal postural coordination model. Input Xd is the prescribed head position on X axis, which is measured onto the subject. PD represent a neural controller to track the target, Uss is the supraspinal neural signal, the output is the joint position θ. The reflex loops on joint positions and velocities (provided via spindles) and on torque (GTO) change the Uss control signal, and hence modify muscle stiffness. The muscle group block is described on Fig. 7. θ0 and θ̇0 are quiet stance values, θ=(π/2, 0)T and θ̇0 = (0, 0)T .
Fig. 11. Identified model simulation results (color) and actual data (black line). f = 0.65Hz
Fig. 10. Identified model simulation results (color) and actual data (black line). f = 0.4Hz
Fig. 9. Identified model simulation results (color) and actual data (black line). f = 0.2Hz
Fig. 1. Experimental device. Physical target moved by a linear motor, force plate and motion capture device.
Fig. 4. Typical human experimental results. (a) Ankle/hip relative phase, showing a transition frequency around 0.4Hz (b) Peak to peak joint positions. (c) Estimation of joint torque amplitudes.
Fig. 3. Human typical experiments at 0.6Hz. Coordinative anti-phase displacement of the ankle and the hip. The hip amplitude is larger than the ankle one.
Fig. 2. Human typical experiments at 0.2Hz. Coordinative in-phase small displacement of the ankle and the hip.
Fig. 5. Double inverted pendulum used to model postural coordination and a musculoskeletal model. The moment arms of muscular forces are the pulleys radius.
Fig. 6. Hill type musculotendon model
Fig. 7. Block diagram of the muscle redundancy management.
Proceedings Article
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DOI
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A closed loop musculoskeletal model of postural coordination dynamics
[...]
Vincent Bonnet
1
,
Philippe Fraisse
1
,
Nacim Ramdani
1
,
Julien Lagarde
,
Sofiane Ramdani
,
Benoît G. Bardy
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+2 more
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Institutions (1)
Centre national de la recherche scientifique
1
15 Dec 2009
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