Hill’s and Huxley’s muscle models - tools for simulations in biomechanics
Numerous mathematical models of human skeletal muscles have been developed. However, none of them is adopted as a general one and each of them is suggested for some specific purpose. This topic is essential in humanoid robotics, since we firstly need to understand how human moves and acts i...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Technical Sciences in Cacak
2015-01-01
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| Series: | Serbian Journal of Electrical Engineering |
| Subjects: | |
| Online Access: | http://www.doiserbia.nb.rs/img/doi/1451-4869/2015/1451-48691501053J.pdf |
| Summary: | Numerous mathematical models of human skeletal muscles have been developed.
However, none of them is adopted as a general one and each of them is
suggested for some specific purpose. This topic is essential in humanoid
robotics, since we firstly need to understand how human moves and acts in
order to exploit human movement patterns in robotics and design human like
actuators. Simulations in biomechanics are intensively used in research of
locomotion, safe human-robot interaction, development of novel robotic
actuators, biologically inspired control algorithms, etc. This paper presents
two widely adopted muscle models (Hill’s and Huxley’s model), elaborates
their features and demonstrates trade-off between their accuracy and
efficiency of computer simulations. The simulation setup contains
mathematical representation of passive muscle structures as well as
mathematical model of an elastic tendon as a series elastic actuation
element. Advanced robot control techniques point out energy consumption as
one of the key issues. Therefore, energy store and release mechanism in
elastic elements in both tendon and muscle, based on the simulation models,
are considered. [Projekat Ministarstva nauke Republike Srbije, br. TR35003
and br. OS175016] |
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| ISSN: | 1451-4869 2217-7183 |