A rigorous dynamical-systems-based analysis of the self-stabilizing influence of muscles

Melih Eriten, Harry Dankowicz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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. In particular, the dynamics of a two-link model of a leg undergoing periodic excitation through one or several contractile muscle elements corresponding to a simple knee-bending motion is studied. 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 muscle-like 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 the literature on muscle self-stabilization.

Original languageEnglish (US)
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages1575-1585
Number of pages11
DOIs
StatePublished - Jun 17 2008
Event6th International Conference on Multibody Systems, Nonlinear Dynamics and Control, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: Sep 4 2007Sep 7 2007

Publication series

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume5 PART C

Other

Other6th International Conference on Multibody Systems, Nonlinear Dynamics and Control, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
Country/TerritoryUnited States
CityLas Vegas, NV
Period9/4/079/7/07

Keywords

  • Dynamical systems
  • Musculoskeletal biomechanics
  • Neuronal feedback
  • Periodic motion
  • Stability

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Mechanical Engineering
  • Modeling and Simulation

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