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♥ - I miss all the places we never went. -
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A system with 1 Degree-of-Freedom and 2 muscles (agonist - antagonist).
It is an 8th order system. The motion equations of 1 DOF results in a 2nd order system, and each muscle is described by a 3rd order muscle model according to Winters & Stark (1985) based on Hill’s equations (see Lecture slides). The excitation dynamics (hypothetical input -> neural signal) is described by a linear 1st order model. The activation dynamics (neural signal -> active state) is described by a non-linear 1st order model. The contraction dynamics (force - velocity relation) results also in a 1st order model. In addition, the model also consists of a non-linear parallel elastic element, a non-linear series-elastic element and a contractile element with a non-linear force-length and force-velocity relationships. Input variables of the muscle model are neural input and muscle length. Muscle length is provided inherently from the motion equation. Muscle forces are internal variables that actuate the inertial load (the skeleton). Goal of the assignment is to get insight in a number of important factors determining the muscle behavior, and the potential and limitations to control a motion using muscles. The assignment should be reported in a small report. For Exercises 1-3 the model contains a relatively large inertia with little damping. This is representative for e.g. motions of the shoulder. For Exercise 4 the model contains a relatively light weighted mass and much damping. This is comparable to the properties of the eye. |
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zijn jullie al anagemeld bij http://www.amberalertnederland.nl/ ?
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Saaikunde #743 Verwijderd | 500 | 10-11-2009 20:24 | |
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