A two dimensional approach for modelling of pennate muscle behaviour

Wojnicz, Wiktoria; Zagrodny, Bartłomiej; Ludwicki, M.; Awrejcewicz, Jan; Wittbrodt, Edmund

doi:10.1016/j.bbe.2016.12.004

Cited by 5 publications

(3 citation statements)

References 19 publications

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“…The dense, helical braid sleeve around the soft elastomer allows it to generate forces of hundreds to thousands of Newtons. While previous studies have established models for the force generation, contraction, and stiffness mechanics of pennate McKibben artificial muscle bundle actuators [8,13,16], there has yet to be a study to identify the relationships between pennation topology and actuator output characteristics for a given actuator envelope.…”

Section: Introductionmentioning

confidence: 99%

Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

Duan

Bryant

2022

Actuators

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In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and safe human–robot interaction. McKibben fluidic artificial muscles are an especially attractive type of soft fluidic actuator, due to their high force-to-weight ratio, inherent flexibility, inexpensive construction, and muscle-like force-contraction behavior. The examination of natural muscles has shown that those with pennate fiber topology can achieve higher output force per geometric cross-sectional area. Yet, this is not universally true for fluidic artificial muscle bundles, because the contraction and rotation behavior of individual actuator units (fibers) are both key factors contributing to situations where bipennate muscle topologies are advantageous, as compared to parallel muscle topologies. This paper analytically explores the implications of pennation angle on pennate fluidic artificial muscle bundle performance with spatial bounds. A method for muscle bundle parameterization as a function of desired bundle spatial envelope dimensions has been developed. An analysis of actuation performance metrics for bipennate and parallel topologies shows that bipennate artificial muscle bundles can be designed to amplify the muscle contraction, output force, stiffness, or work output capacity, as compared to a parallel bundle with the same envelope dimensions. In addition to quantifying the performance trade space associated with different pennate topologies, analyzing bundles with different fiber boundary conditions reveals how bipennate fluidic artificial muscle bundles can be designed for extensile motion and negative stiffness behaviors. This study, therefore, enables tailoring the muscle bundle parameters for custom compliant actuation applications.

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Section: Introductionmentioning

confidence: 99%

Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

Duan

Bryant

2022

Actuators

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“…1 are reported in Appendix A. It should be mentioned that other models exist which take into account more complete factors of the locomotion such as detailed bones and joints behaviours (Barhorst and Schovanec, 2009;Moody et al, 2009) or pennate (Wojnicz et al, 2017) and mono-and bi-articular muscles (Zagrodny et al, 2018). Let us linearise system equations around a provided postural positions represented by 0 and 0 ; i.e.…”

Section: The Mathematical Model Of the Upper Limb And Linearisation About A Postural Potionmentioning

confidence: 99%

Nonlinear passive tremor control of human arm

Savadkoohi

Lamarque

Goossaert

2021

Mechanical Systems and Signal Processing

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An academic model for passive vibration control of human arm suffering from essential tremors is proposed. The nonlinear uncontrolled system equations are linearised around arbitrary postural positions showing variations of linear natural frequencies as functions of postural positions. The coupled system, i.e. the model of the arm with the attached nonlinear absorber, is treated via a time multiple scale method leading to detection of fast and slow systems dynamics. These dynamics provide design tools for tuning parameters of the nonlinear absorber.

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“…A highly cited work is the one by Damsgaard et al [65] where the software AnyBody is presented to the community. Some of the results of the authors of this community have served as a basis for other applied and fundamental investigations, see, for example references [66,67]. comm-9 Accurate and efficient integrators.…”

Section: Detection Of Thematic Communitiesmentioning

confidence: 99%

Detection of Communities within the Multibody System Dynamics Network and Analysis of Their Relations

et al. 2019

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Multibody system dynamics is already a well developed branch of theoretical, computational and applied mechanics. Thousands of documents can be found in any of the well-known scientific databases. In this work it is demonstrated that multibody system dynamics is built of many thematic communities. Using the Elsevier’s abstract and citation database SCOPUS, a massive amount of data is collected and analyzed with the use of the open source visualization tool Gephi. The information is represented as a large set of nodes with connections to study their graphical distribution and explore geometry and symmetries. A randomized radial symmetry is found in the graphical representation of the collected information. Furthermore, the concept of modularity is used to demonstrate that community structures are present in the field of multibody system dynamics. In particular, twenty-four different thematic communities have been identified. The scientific production of each community is analyzed, which allows to predict its growing rate in the next years. The journals and conference proceedings mainly used by the authors belonging to the community as well as the cooperation between them by country are also analyzed.

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A two dimensional approach for modelling of pennate muscle behaviour

Cited by 5 publications

References 19 publications

Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

Nonlinear passive tremor control of human arm

Detection of Communities within the Multibody System Dynamics Network and Analysis of Their Relations

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