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Journal ArticleDOI

Analysis of Fundamental Human Movement Patterns Through the Use of In-Depth Antagonistic Muscle Models

01 Oct 1985-IEEE Transactions on Biomedical Engineering (IEEE)-Vol. 32, Iss: 10, pp 826-839
TL;DR: A nonlinear eighth-order agonist-antagonist muscle model is identified, based on engineering analysis and design criteria, as the desired structure for the broad-range study of a variety of fundamental human joint movements as mentioned in this paper.
Abstract: A nonlinear eighth-order agonist-antagonist muscle model is identified, based on engineering analysis and design criteria, as the desired structure for the broad-range study of a variety of fundamental human joint movements. To complement this structure, systematic protocols, that combine material and geometrical information for each muscle, are developed to obtain the model parameter values needed for the various muscle constitutive equations. The parameters describing the four basic nonlinear relations are easy to visualize, representing the peak curve values and "shape" parameters. Elbow, knee, wrist, and ankle fiexion-extension and eye, wrist, and head rotation are simulated by this same model structure.
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Proceedings ArticleDOI
18 Apr 2005
TL;DR: An overview of one of the control schemes developed here increases the closed loop system sensitivity to its wearer’s forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal).
Abstract: The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at U.C. Berkeley, walking at the average speed of 1.3 m/s while carrying a 34 kg (75 lb) payload. Four fundamental technologies associated with the Berkeley Lower Extremity Exoskeleton (BLEEX) were tackled during the course of this project. These four core technologies include: the design of the exoskeleton architecture, control schemes, a body local area network (bLAN) to host the control algorithm and an on-board power unit to power the actuators, sensors and the computers. This article gives an overview of one of the control schemes. The analysis here is an extension of the classical definition of the sensitivity function of a system: the ability of a system to reject disturbances or the measure of system robustness. The control algorithm developed here increases the closed loop system sensitivity to its wearer’s forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The control method has little robustness to parameter variations and therefore requires a relatively good dynamic model of the system. The tradeoffs between having sensors to measure human variables and the lack of robustness to parameter variation are described.

598 citations


Cites background from "Analysis of Fundamental Human Movem..."

  • ...See [15] and [ 16 ] for in-depth modeling and analysis....

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Journal ArticleDOI
TL;DR: The hypothesis that intentional movements are produced by shifting the frame of reference is extended to multi-muscle and multi-degrees-of-freedom systems with a solution of the redundancy problem that allows the control of a joint alone or in combination with other joints to produce any desired limb configuration and movement trajectory.
Abstract: A hypothesis about sensorimotor integration (the λ model) is described and applied to movement control and kinesthesia. The central idea is that the nervous system organizes positional frames of reference for the sensorimotor apparatus and produces active movements by shifting the frames in terms of spatial coordinates. Kinematic and electromyographic patterns are not programmed, but emerge from the dynamic interaction among the system s components, including external forces within the designated frame of reference. Motoneuronal threshold properties and proprioceptive inputs to motoneurons may be cardinal components of the physiological mechanism that produces positional frames of reference. The hypothesis that intentional movements are produced by shifting the frame of reference is extended to multi-muscle and multi-degrees-of-freedom systems with a solution of the redundancy problem that allows the control of a joint alone or in combination with other joints to produce any desired limb configuration and movement trajectory. The model also implies that for each motor behavior, the nervous system uses a strategy that minimizes the number of changeable control variables and keeps the parameters of these changes invariant. Examples are provided of simulated kinematic and electromyographic signals from single- and multi-joint arm movements produced by suggested patterns of control variables. Empirical support is provided and additional tests of the model are suggested. The model is contrasted with others based on the ideas of programming of motoneuronal activity, muscle forces, stiffness, or movement kinematics.

546 citations

Journal ArticleDOI
TL;DR: Qualitative comparisons between the predictions of the model and previously reported experimental findings indicate that the model reproduces the major features of a maximum-height squat jump, including limb-segmental angular displacements, vertical and horizontal ground reaction forces, sequence of muscular activity, overall jump height, and final lift-off time.

499 citations


Cites result from "Analysis of Fundamental Human Movem..."

  • ...It) In many regards, this model for contraction dynamics is a simplified version of the one developed by Hatxe(1977.1978). though similar to those used by others to study motor control [e.g. Winters and Stark, 1985; for review, see Winters and Stark ( 1987) and Zajac (I 989)]....

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Journal ArticleDOI
TL;DR: A detailed model of the shoulder mechanism has been developed which provides good insight into the function of morphological structures and is concluded that the optimum muscle length and force-length relationship are unknown.

481 citations

Journal ArticleDOI
TL;DR: This chapter reviews how the structure of the neuromusculoskeletal system is commonly represented in a multijoint model of movement, how modeling may be combined with optimization theory to simulate the dynamics of a motor task, and how model output can be analyzed to describe and explain muscle function.
Abstract: ▪ Abstract Recent interest in using modeling and simulation to study movement is driven by the belief that this approach can provide insight into how the nervous system and muscles interact to produce coordinated motion of the body parts. With the computational resources available today, large-scale models of the body can be used to produce realistic simulations of movement that are an order of magnitude more complex than those produced just 10 years ago. This chapter reviews how the structure of the neuromusculoskeletal system is commonly represented in a multijoint model of movement, how modeling may be combined with optimization theory to simulate the dynamics of a motor task, and how model output can be analyzed to describe and explain muscle function. Some results obtained from simulations of jumping, pedaling, and walking are also reviewed to illustrate the approach.

476 citations

References
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Journal ArticleDOI
TL;DR: In this article, a more accurate and rapid technique for muscle heat measurement was proposed, and some astonishingly simple and accurate relations have been found, which determine the effect of load on speed of shortening, allow the form of the isometric contraction to be predicted, and are the basis of the so-called "visco-elasticity" of skeletal muscle.
Abstract: The hope was recently expressed (Hill 1937, p. 116) that with the development of a more accurate and rapid technique for muscle heat measurement, a much more consistent picture might emerge of the energy relations of muscles shortening (or lengthening) and doing positive (or negative) work. This hope has been realized, and some astonishingly simple and accurate relations have been found, relations, moreover, which (among other things) determine the effect of load on speed of shortening, allow the form of the isometric contraction to be predicted, and are the basis of the so-called “visco-elasticity” of skeletal muscle. This paper is divided into three parts. In Part I further developments of the technique are described: everything has depended on the technique, so no apology is needed for a rather full description of it and of the precautions necessary. In Part II the results themselves are described and discussed. In Part III the “visco-elastic” properties of active muscle are shown to be a consequence of the properties described in Part II.

4,672 citations

Journal ArticleDOI
TL;DR: In this paper, the mean fibre type proportions of each muscle were examined and the spatial distribution of the fibre types was examined in order to determine whether this was random or not, and the number of closed fibers observed in the actual samples was compared statistically with the number expected to occur in a hexagonal lattice model, assuming a random distribution.

2,114 citations

Journal ArticleDOI
TL;DR: The author examines the relationship between ATPase activity of myosin and intrinsic speed of shortening, and the effects of nerve cross-union on properties of myOSin.
Abstract: Introduction. ............................................................ 129 Fiber Types. ............................................................ 130 Historical introduction. ................................................. 130 Classification and terminology. ........................................... 131 Contractile properties of different types of fiber. ............................ 134 Mechanical Properties. .................................................... 138 Introduction ........................................................... 138 Series-elastic component. ................................................ 138 Length : tension relation of contractile material. ............................. 140 Force: velocity properties of contractile component. ......................... 145 Behavior of series-elastic and contractile components in isotonic and isometric contractions ....................................................... 147 Active state, time course of isometric twitch, and posttetanic potentiation ....... 149 Ontogenetic Differentiation of Fast and Slow Muscles. ......................... 161 Growth ............................................................... 161 Dynamic properties. .................................................... 163 Other developmental changes. .......................................... 166 Kelation Between Size and Speed of Contraction .............................. 166 Speed of contraction of homologous muscles of different species. ............. 166 Speed of contraction of different muscles of same animal. .................... 169 Neural Control of Dynamic Properties. ...................................... 170 Introductiorl ........................................................... 170 Dynamic properties of normal and cross-innervated muscles .................. 172 Effects of nerve cross-union on properties of myosin. ......................... 175 Neural influences on noncontractile structures in muscle cells ................. 176 Correlations Between Dynamic and Chemical Properties of Contractile Material. .. 177 Introduction ........................................................... 177 Structure of myosin. .................................................... 177 Relation between ATPase activity of myosin and intrinsic speed of shortening . 181 Functional differences between fast and slow muscles. ....................... 182 Review of Some Major Problems ........................................... 183

1,865 citations

Journal ArticleDOI
TL;DR: The inversely-nonlinear relationship of muscle contraction force and the possible contraction duration is utilized in a method to mathematically predict individual muscle forces and shows substantial agreement with that activity pattern predicted when endurance is used as the optimization criterion.

1,275 citations

Journal ArticleDOI
TL;DR: A theoretical framework is presented in which the elastic properties of soft tissues can be described and it is shown that the mathematical formulation works well also in reducing published data on the series element of the heart and striated muscles, and the skin.
Abstract: FUNG, Y. C. B. Elasticity of soft tissues in simple elongation. Am. J. Physiol. 213(6) : 1532-l 544. 1967 .-Elasticity of living soft tissues is strongly nonlinear. Based on experimental results on rabbits’ mesentery, a theoretical framework is presented in which the elastic properties of soft tissues can be described. It is shown that the mathematical formulation works well also in reducing published data on the series element of the heart and striated muscles, and the skin. In simple elongation the tensile stress is nearly an exponential function of the strain in the lower stress range. Based on this fact, it is shown that although we are dealing with the finite deformation of highly nonlinear materials, the elastic property of soft tissues in tension can be expressed quite simply in most cases. It is necessary, however, to give up the usual practice of trying to characterize the elasticity of a tissue by a representative Young’s modulus, because this modulus varies over a very wide range, which is often zero at vanishing stress, and increases linearly as the stress increases, and therefore is meaningless unless the exact stress level is specified. New physical constants recommended are : the slope and curvature at the origin of the curve of d T/dX vs. T, where T stands for tension and X stands for the extension ratio, and the tensile stress T*, (based on the original crosssectional area) at a specific value of the extension ratio A*.

938 citations