Modeling of Novel Compound Tendon-Sheath Artificial Muscle Inspired by Hill Muscle Model

Zhang, Qi; Wang, Xingsong; Tian, Mengqian; Shen, Xiaopeng; Wu, Qingcong

doi:10.1109/tie.2017.2784377

Cited by 26 publications

(13 citation statements)

References 40 publications

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“…A full musculoskeletal model for muscle driven simulation was included in our platform to compute internal muscle force data from patients. The model was created using an open source software called MSMS and exported to the MATLAB environment, which is based on the well known biomechanical model of Hill-Zajac [27][28][29]. In spite of this, the insertion of each bone, muscle, tendon, and ligaments was done manually by the authors.…”

Section: Kinetic Gait Modelingmentioning

confidence: 99%

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ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Cardona

Cena

Serrano

et al. 2020

Sensors

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Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.

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Section: Kinetic Gait Modelingmentioning

confidence: 99%

“…considering the virtual input and disturbance torques as τ qn = D −1 n τ Φn and τ qd = D −1 n τ dn , respectively. In order to design the adaptive PD controller, it is necessary to convert (28) to state variables by means of the variables z 1 = q and z 2 =q, that is:…”

Section: Adaptive-pd Controllermentioning

confidence: 99%

ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Cardona

Cena

Serrano

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…On the other hand, such a big difference in the values of generated power is probably due to the lack of innervations that distinguishes ex vivo muscle tissues from real muscles. It has been demonstrated that tendons amplify the mechanical power developed by a muscle [37], [38], so that the absence of tendons in ex vivo engineered tissues could result in lower values of generated power. In this context, the capability of measuring the power developed by ex vivo engineered muscle, as proposed in this paper, is a fundamental tool to improve the generation techniques of these tissues.…”

Section: Hill's Model Of the Force Velocity Relationshipmentioning

confidence: 99%

Measuring the Maximum Power of an $ex~vivo$ Engineered Muscle Tissue With Isovelocity Shortening Technique

Pisu

Cosentino

Apa

et al. 2019

IEEE Trans. Instrum. Meas.

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The final aim of muscle tissue engineering (TE) is to create a new tissue able to restore the functionality of impaired muscles once transplanted in the site of injury. Therefore, functional contractile properties close to that of healthy muscles are desirable to allow for a good compatibility and a proper functional contribution. Since skeletal muscles deal with locomotion during their normal activity, an accurate measurement of ex vivo muscle engineered tissues' isotonic properties is crucial. In this paper, we devised an experimental system to measure the mechanical power generated by an ex vivo muscle engineered tissue, the X-MET, based on the isovelocity contraction technique. The X-MET is developed without the use of any scaffolds, so that its mechanical properties are not affected by endogenous components. Our experiments allowed for delimiting the ranges of shortening and shortening velocity for which the tissue is able to generate and maintain power for the entire stimulation, which is the condition that better reproduces muscle physiological activity. Then, we measured the power generated by the X-MET and fit the experimental results to the Hill's equation usually employed for modeling the force-velocity relationship of skeletal muscles. The use of this model yielded to the measurement of maximum power and maximum shortening velocity. Results revealed that most of the isotonic properties were consistent with that proposed in the literature for slow-twitch muscles; in particular, the X-METs were able to generate a maximum power of 2.08 ± 0.78 W/kg and had a maximum shortening velocity of 1.84 ± 0.57 L 0 /s, on average.

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“…In their approach, the tendon-sheath systems were used for power transmission over comparatively long distances. Wang et al 26,27 established a transmission model for a double tendon-sheath structure under arbitrary load conditions and analyzed many non-ideal and nonlinear tendon-sheath transmission problems. They also built an experimental tendon-sheath platform and applied friction and control compensation measures to the tendon-sheath transmission.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field

Jia

Zhang

Jiang

et al. 2020

Advances in Mechanical Engineering

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Cancer represents a major threat to human health. Magnetic resonance imaging (MRI) provides superior performance to other imaging-based examination methods in the detection of tumors and offers distinct advantages in biopsy and seed implantation. However, because of the MRI environment, the material requirements for actuating devices for the medical robots used in MRI are incredibly demanding. This paper describes a novel double tendon-sheath transmission device for use in MRI applications. LeBus grooves are used in the original transmission wheels, thus enabling the system to realize long-distance and large-stroke transmission with improved accuracy. The friction model of the transmission system and the transmission characteristics model of the novel tendon-sheath structure are then established. To address the problem that tension sensors cannot be installed in large-stroke transmission systems, a three-point force measurement method is used to measure and set an appropriate preload in the novel tendon-sheath transmission system. Additionally, experiments are conducted to verify the accuracy of the theoretical model and multiple groups of tests are performed to explore the transmission characteristics. Finally, the novel tendon-sheath transmission system is compensated to improve its accuracy and the experimental results acquired after compensation show that the system satisfies the design requirements.

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Modeling of Novel Compound Tendon-Sheath Artificial Muscle Inspired by Hill Muscle Model

Cited by 26 publications

References 40 publications

ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Measuring the Maximum Power of an $ex~vivo$ Engineered Muscle Tissue With Isovelocity Shortening Technique

Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field

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