Department of Sports and Exercise Science, University of Stuttgart, Allmandring 28, 70569 Stuttgart, Germany ; Stuttgart Research Centre for Simulation Technology, University of Stuttgart, Pfaffenwaldring 5a, 70569 Stuttgart, Germany.
Comput Math Methods Med. 2013;2013:570878. doi: 10.1155/2013/570878. Epub 2013 Nov 12.
The construction of artificial muscles is one of the most challenging developments in today's biomedical science. The application of artificial muscles is focused both on the construction of orthotics and prosthetics for rehabilitation and prevention purposes and on building humanoid walking machines for robotics research. Research in biomechanics tries to explain the functioning and design of real biological muscles and therefore lays the fundament for the development of functional artificial muscles. Recently, the hyperbolic Hill-type force-velocity relation was derived from simple mechanical components. In this contribution, this theoretical yet biomechanical model is transferred to a numerical model and applied for presenting a proof-of-concept of a functional artificial muscle. Additionally, this validated theoretical model is used to determine force-velocity relations of different animal species that are based on the literature data from biological experiments. Moreover, it is shown that an antagonistic muscle actuator can help in stabilising a single inverted pendulum model in favour of a control approach using a linear torque generator.
人工肌肉的构建是当今生物医学科学中最具挑战性的发展之一。人工肌肉的应用集中在康复和预防目的的矫形器和假肢的构建以及人形步行机器人的构建用于机器人研究。生物力学的研究试图解释真实生物肌肉的功能和设计，因此为功能性人工肌肉的发展奠定了基础。最近，双曲型 Hill 型力-速度关系是从简单的机械元件推导出来的。在本研究中，这个理论上的生物力学模型被转化为数值模型，并应用于展示功能性人工肌肉的概念验证。此外，这个经过验证的理论模型还用于根据生物实验的文献数据确定不同动物物种的力-速度关系。此外，还表明拮抗肌肉致动器可以帮助稳定单个倒立摆模型，有利于使用线性转矩发生器的控制方法。
