Modeling of multi-joint motor systems

Author

McIntyre, J. ; Mussa-Ivaldi, F.A. ; Bizzi, E.

Author_Institution

Dept. of Brain & Cognitive Sci., MIT, Cambridge, MA, USA

fYear

1989

Firstpage

242

Abstract

A model of elastic mechanical systems is presented in the form of a network of constraint equations expressing the geometrical relations among component elements and their steady-state mechanical behavior. The model takes into account the nonlinear features of motor system geometry and is used to represent mechanical interactions with the environment as well as to derive appropriate patterns of control input given a wide variety of motor tasks. This approach is applicable to the analysis of biological motor systems. A framework for modeling the mechanical properties of springs and linkages is presented. An example is given where the system is used to model the control of a human arm

Keywords

biomechanics; physiological models; constraint equations network; elastic mechanical systems; human arm control; linkages; mechanical interactions; motor system geometry; multi-joint motor systems modelling; nonlinear features; springs; steady-state mechanical behavior; Biological system modeling; Couplings; Geometry; Mechanical factors; Mechanical systems; Nonlinear control systems; Nonlinear equations; Solid modeling; Springs; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 1989. Images of the Twenty-First Century., Proceedings of the Annual International Conference of the IEEE Engineering in

Conference_Location

Seattle, WA

Type

conf

DOI

10.1109/IEMBS.1989.95702

Filename

95702