In this paper, dynamical systems analysis and optimization tools are used to investigate the local dynamic stability of periodic task-related motions of simple models of the lower-body musculoskeletal apparatus and to seek parameter values guaranteeing their stability. Several muscle models incorporating various active and passive elements are included and the notion of self-stabilization of the rigid-body dynamics through the imposition of musclelike actuation is investigated. It is found that self-stabilization depends both on muscle architecture and configuration as well as the properties of the reference motion. Additionally, antagonistic muscles (flexor-extensor muscle couples) are shown to enable stable motions over larger ranges in parameter space and that even the simplest neuronal feedback mechanism can stabilize the repetitive motions. The work provides a review of the necessary concepts of stability and a commentary on existing incorrect results that have appeared in literature on muscle self-stabilization.
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January 2009
Research Papers
A Rigorous Dynamical-Systems-Based Analysis of the Self-Stabilizing Influence of Muscles
Melih Eriten,
Melih Eriten
Department of Mechanical Science and Engineering,
University of Illinois at Urbana-Champaign
, Urbana, IL 61801
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Harry Dankowicz
Harry Dankowicz
Department of Mechanical Science and Engineering,
University of Illinois at Urbana-Champaign
, Urbana, IL 61801
Search for other works by this author on:
Melih Eriten
Department of Mechanical Science and Engineering,
University of Illinois at Urbana-Champaign
, Urbana, IL 61801
Harry Dankowicz
Department of Mechanical Science and Engineering,
University of Illinois at Urbana-Champaign
, Urbana, IL 61801J Biomech Eng. Jan 2009, 131(1): 011011 (8 pages)
Published Online: November 26, 2008
Article history
Received:
June 28, 2007
Revised:
July 18, 2008
Published:
November 26, 2008
Citation
Eriten, M., and Dankowicz, H. (November 26, 2008). "A Rigorous Dynamical-Systems-Based Analysis of the Self-Stabilizing Influence of Muscles." ASME. J Biomech Eng. January 2009; 131(1): 011011. https://doi.org/10.1115/1.3002758
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