Daunicht W J
Abteilung Biokybernetik, Heinrich-Heine-Universität Düsseldorf, Federal Republic of Germany.
Science. 1991 Sep 13;253(5025):1289-91. doi: 10.1126/science.1891718.
Many biomechanical systems contain ball joints with several elastic actuators (muscles) obliquely attached to the links. The problem of calculating the optimum actuator commands to achieve a desired link orientation is a difficult one for any control system; however, the elasticity of the actuators may be part of the solution. Mechanoreceptors such as those found in muscles and tendons are capable of performing operations that can be regarded as autoassociation and novelty detection, respectively, by minimization of potential energy. The information provided by such sensors may then be exploited for optimization of muscle coordination.
许多生物力学系统包含球形关节，有多个弹性致动器（肌肉）倾斜地附着在连杆上。对于任何控制系统而言，计算出能实现所需连杆方向的最佳致动器指令都是一个难题；然而，致动器的弹性可能是解决方案的一部分。诸如在肌肉和肌腱中发现的机械感受器，能够分别通过势能最小化来执行可被视为自联想和新奇性检测的操作。然后，可以利用此类传感器提供的信息来优化肌肉协调。
