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Neural Control Of Limb Stiffness
As humans move through their environment, they must change the stiffness of their joints in order to effectively interact with their surroundings. Stiffness is the degree to a which an object resists deformation when subjected to a known force. This idea is also referred to as impedance, however, sometimes the idea of deformation under a given load is discussed under the term "compliance" which is the opposite of stiffness (defined as the amount an object deforms under a certain known load). In order to effectively interact with their environment, humans must adjust the stiffness of their limbs. This is accomplished via the co-contraction of antagonistic muscle groups. Humans use neural control along with the mechanical constraints of the body to adjust this stiffness as the body performs various tasks. It has been shown that humans change the stiffness of their limbs as they perform tasks such as hopping, performing accurate reaching tasks, or running on different surfaces. While ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Stiffness
Stiffness is the extent to which an object resists deformation in response to an applied force. The complementary concept is flexibility or pliability: the more flexible an object is, the less stiff it is. Calculations The stiffness, k, of a body is a measure of the resistance offered by an elastic body to deformation. For an elastic body with a single degree of freedom (DOF) (for example, stretching or compression of a rod), the stiffness is defined as k = \frac where, * F is the force on the body * \delta is the displacement produced by the force along the same degree of freedom (for instance, the change in length of a stretched spring) In the International System of Units, stiffness is typically measured in newtons per meter (N/m). In Imperial units, stiffness is typically measured in pounds (lbs) per inch. Generally speaking, deflections (or motions) of an infinitesimal element (which is viewed as a point) in an elastic body can occur along multiple DOF (maximum of s ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Motor Coordination
Motor coordination is the orchestrated movement of multiple body parts as required to accomplish intended actions, like walking. This coordination is achieved by adjusting kinematic and kinetic parameters associated with each body part involved in the intended movement. The modifications of these parameters typically relies on sensory feedback from one or more sensory modalities ( see: multisensory integration), such as proprioception and vision. Properties Large Degrees of Freedom Goal-directed and coordinated movement of body parts is inherently variable because there are many ways of coordinating body parts to achieve the intended movement goal. This is because the degrees of freedom (DOF) is large for most movements due to the many associated neuro-musculoskeletal elements.Bernstein N. (1967). The Coordination and Regulation of Movements. Pergamon Press. New York. Some examples of non-repeatable movements are when pointing or standing up from sitting. Complexity The complexi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Neuroscience
Neuroscience is the scientific study of the nervous system (the brain, spinal cord, and peripheral nervous system), its functions and disorders. It is a multidisciplinary science that combines physiology, anatomy, molecular biology, developmental biology, cytology, psychology, physics, computer science, chemistry, medicine, statistics, and Mathematical Modeling, mathematical modeling to understand the fundamental and emergent properties of neurons, glia and neural circuits. The understanding of the biological basis of learning, memory, behavior, perception, and consciousness has been described by Eric Kandel as the "epic challenge" of the Biology, biological sciences. The scope of neuroscience has broadened over time to include different approaches used to study the nervous system at different scales. The techniques used by neuroscientists have expanded enormously, from molecular biology, molecular and cell biology, cellular studies of individual neurons to neuroimaging, imaging ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Motor Control
Motor control is the regulation of movement in organisms that possess a nervous system. Motor control includes reflexes as well as directed movement. To control movement, the nervous system must integrate multimodal sensory information (both from the external world as well as proprioception) and elicit the necessary signals to recruit muscles to carry out a goal. This pathway spans many disciplines, including multisensory integration, signal processing, coordination, biomechanics, and cognition, and the computational challenges are often discussed under the term sensorimotor control. Successful motor control is crucial to interacting with the world to carry out goals as well as for posture, balance, and stability. Some researchers (mostly neuroscientists studying movement, such as Daniel Wolpert and Randy Flanagan) argue that motor control is the reason brains exist at all. Neural control of muscle force All movements, e.g. touching your nose, require motor neurons to fire ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Stiffness
Stiffness is the extent to which an object resists deformation in response to an applied force. The complementary concept is flexibility or pliability: the more flexible an object is, the less stiff it is. Calculations The stiffness, k, of a body is a measure of the resistance offered by an elastic body to deformation. For an elastic body with a single degree of freedom (DOF) (for example, stretching or compression of a rod), the stiffness is defined as k = \frac where, * F is the force on the body * \delta is the displacement produced by the force along the same degree of freedom (for instance, the change in length of a stretched spring) In the International System of Units, stiffness is typically measured in newtons per meter (N/m). In Imperial units, stiffness is typically measured in pounds (lbs) per inch. Generally speaking, deflections (or motions) of an infinitesimal element (which is viewed as a point) in an elastic body can occur along multiple DOF (maximum of s ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robotics
Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics, electronics, bioengineering, computer engineering, control engineering, software engineering, mathematics, etc. Robotics develops machines that can substitute for humans and replicate human actions. Robots can be used in many situations for many purposes, but today many are used in dangerous environments (including inspection of radioactive materials, bomb detection and deactivation), manufacturing processes, or where humans cannot survive (e.g. in space, underwater, in high heat, and clean up and containment of hazardous materials and radiation). Robots can take any form, but some are made to resemble humans in appearance. This is claim ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Neuroprosthetics
Neuroprosthetics (also called neural prosthetics) is a discipline related to neuroscience and biomedical engineering concerned with developing neural prostheses. They are sometimes contrasted with a brain–computer interface, which connects the brain to a computer rather than a device meant to replace missing biological functionality. Neural prostheses are a series of devices that can substitute a motor, sensory or cognitive modality that might have been damaged as a result of an injury or a disease. Cochlear implants provide an example of such devices. These devices substitute the functions performed by the eardrum and stapes while simulating the frequency analysis performed in the cochlea. A microphone on an external unit gathers the sound and processes it; the processed signal is then transferred to an implanted unit that stimulates the auditory nerve through a microelectrode array. Through the replacement or augmentation of damaged senses, these devices are intended to impr ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Plasticity (physics)
In physics and materials science, plasticity, also known as plastic deformation, is the ability of a solid material to undergo permanent Deformation (engineering), deformation, a non-reversible change of shape in response to applied forces. For example, a solid piece of metal being bent or pounded into a new shape displays plasticity as permanent changes occur within the material itself. In engineering, the transition from Elasticity (physics), elastic behavior to plastic behavior is known as Yield (engineering), yielding. Plastic deformation is observed in most materials, particularly metals, soils, Rock (geology), rocks, concrete, and foams. However, the physical mechanisms that cause plastic deformation can vary widely. At a crystalline scale, plasticity in metals is usually a consequence of dislocations. Such defects are relatively rare in most crystalline materials, but are numerous in some and part of their crystal structure; in such cases, plastic crystallinity can res ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Actuator
An actuator is a component of a machine that is responsible for moving and controlling a mechanism or system, for example by opening a valve. In simple terms, it is a "mover". An actuator requires a control device (controlled by control signal) and a source of energy. The control signal is relatively low energy and may be electric voltage or current, pneumatic, or hydraulic fluid pressure, or even human power. Its main energy source may be an electric current, hydraulic pressure, or pneumatic pressure. The Control device is usually a valve. When it receives a control signal, an actuator responds by converting the source's energy into mechanical motion. In the ''electric'', ''hydraulic'', and ''pneumatic'' sense, it is a form of automation or automatic control. History The history of the pneumatic actuation system and the hydraulic actuation system dates to around the time of World War II (1938). It was first created by Xhiter Anckeleman who used his knowledge of engines and ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Servomechanism
In control engineering a servomechanism, usually shortened to servo, is an automatic device that uses error-sensing negative feedback to correct the action of a mechanism. On displacement-controlled applications, it usually includes a built-in encoder or other position feedback mechanism to ensure the output is achieving the desired effect. The term correctly applies only to systems where the feedback or error-correction signals help control mechanical position, speed, attitude or any other measurable variables. For example, an automotive power window control is not a servomechanism, as there is no automatic feedback that controls position—the operator does this by observation. By contrast a car's cruise control uses closed-loop feedback, which classifies it as a servomechanism. Applications Position control A common type of servo provides ''position control''. Commonly, servos are electric, hydraulic, or pneumatic. They operate on the principle of negative feedback, wh ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Controller (control Theory)
Control theory is a field of mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are controllability and observability. Control theory is used in control system eng ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
