Biarticular muscles in light of template models, experiments and robotics: a review
| Autor: | Schumacher, C., Sharbafi, M., Seyfarth, A., Rode, C. |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 0206 medical engineering Biomedical Engineering Biophysics Bioengineering Review Article 02 engineering and technology biomechanical template models Biochemistry Biomaterials 020901 industrial engineering & automation Control theory biarticular muscles medicine assistive devices Humans Muscle Skeletal Review Articles Balance (ability) Leg locomotor subfunctions business.industry Robotics leg morphology Swing 020601 biomedical engineering Sagittal plane Biomechanical Phenomena medicine.anatomical_structure Robotic systems Biarticular muscle Arm Artificial intelligence legged robotics business Biotechnology |
| Zdroj: | Journal of the Royal Society Interface |
| ISSN: | 1742-5662 1742-5689 |
| DOI: | 10.1098/rsif.2018.0413 |
| Popis: | Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles’ functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance,balanceandswing). While mono- and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono- and biarticular muscles. Instance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum forbalanceandswing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms. |
| Databáze: | OpenAIRE |
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