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A Biologically Inspired Joint Model Using Engineering Methods To Enhance Understanding Of Muscle Activity, Richard Paradiso

Theses

Compliant actuators and control methods have been known to exhibit similarities in human musculoskeletal systems. In order to better understand and improve the effects of force optimization under closed- loop conditions, a physical joint model was constructed with an agonist and an antagonist muscle operating under linear control. Utilizing LabVIEW software, compliant McKibben air muscles and Merlin stretch sensors, the author was able to incorporate a Bang-Bang controller and propose the inclusion of pulse width modulation (PWM) as well as a Proportional-Integral-Derivative (PD) controller to study the reflex loops under various levels of feedback sensitivity. The feedback mechanism, similar to …