Dataset Information

Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg.

ABSTRACT: We investigate the role of lower leg muscle-tendon structures in providing serial elastic behavior to the hip actuator. We present a leg design with physical elastic elements in leg angle and virtual leg axis direction, and its impact onto energy efficient legged locomotion. By testing and comparing two robotic lower leg spring configurations, we can provide potential explanations of the functionality of similar animal leg morphologies with lower leg muscle-tendon network structures. We investigate the effects of leg angle compliance during locomotion. In a proof of concept, we show that a leg with a gastrocnemius inspired elasticity possesses elastic components that deflect in leg angle directions. The leg design with elastic elements in leg angle direction can store hip actuator energy in the series elastic element. We then show the leg's advantages in mechanical design in a vertical drop experiment. In the drop experiments the biarticular leg requires 46% less power. During drop loading, the leg adapts its posture and stores the energy in its springs. The increased energy storing capacity in leg angle direction reduces energy requirements and cost of transport by 31% during dynamic hopping to a cost of transport of 1.2 at 0.9 kg body weight. The biarticular robot leg design has major advantages, especially compared to more traditional robot designs. Despite its high degree of under-actuation, it is easy to converge into and maintain dynamic hopping locomotion. The presented control is based on a simple-to-implement, feed-forward pattern generator. The biarticular legs lightweight design can be rapidly assembled and is largely made from elements created by rapid prototyping. At the same time it is robust, and passively withstands drops from 200% body height. The biarticular leg shows, to the best of the authors' knowledge, the lowest achieved relative cost of transport documented for all dynamically hopping and running robots of 64% of a comparable natural runner's COT.

SUBMITTER: Ruppert F

PROVIDER: S-EPMC6700334 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature

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Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg.

Ruppert Felix F Badri-Spröwitz Alexander A

Frontiers in neurorobotics 20190813

We investigate the role of lower leg muscle-tendon structures in providing serial elastic behavior to the hip actuator. We present a leg design with physical elastic elements in leg angle and virtual leg axis direction, and its impact onto energy efficient legged locomotion. By testing and comparing two robotic lower leg spring configurations, we can provide potential explanations of the functionality of similar animal leg morphologies with lower leg muscle-tendon network structures. We investig ...[more]

PMID: 31456682

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Project description:During rapid deceleration of the body, tendons buffer part of the elongation of the muscle-tendon unit (MTU), enabling safe energy dissipation via eccentric muscle contraction. Yet, the influence of changes in tendon stiffness within the physiological range upon these lengthening contractions is unknown. This study aimed to examine the effect of training-induced stiffening of the Achilles tendon on triceps surae muscle-tendon behavior during a landing task. Twenty-one male subjects were assigned to either a 10-week resistance-training program consisting of single-leg isometric plantarflexion (n = 11) or to a non-training control group (n = 10). Before and after the training period, plantarflexion force, peak Achilles tendon strain and stiffness were measured during isometric contractions, using a combination of dynamometry, ultrasound and kinematics data. Additionally, testing included a step-landing task, during which joint mechanics and lengths of gastrocnemius and soleus fascicles, Achilles tendon, and MTU were determined using synchronized ultrasound, kinematics and kinetics data collection. After training, plantarflexion strength and Achilles tendon stiffness increased (15 and 18%, respectively), and tendon strain during landing remained similar. Likewise, lengthening and negative work produced by the gastrocnemius MTU did not change detectably. However, in the training group, gastrocnemius fascicle length was offset (8%) to a longer length at touch down and, surprisingly, fascicle lengthening and velocity were reduced by 27 and 21%, respectively. These changes were not observed for soleus fascicles when accounting for variation in task execution between tests. These results indicate that a training-induced increase in tendon stiffness does not noticeably affect the buffering action of the tendon when the MTU is rapidly stretched. Reductions in gastrocnemius fascicle lengthening and lengthening velocity during landing occurred independently from tendon strain. Future studies are required to provide insight into the mechanisms underpinning these observations and their influence on energy dissipation.

Project description:BACKGROUND:We developed a single stretch injury model to create damage near the musculotendinous junction (MTJ) of the gastrocnemius muscle in mice. Our hypothesis was that magnitude of muscle injury could be controlled by stepped shortening of the Achilles tendon (AT) prior to a lengthening contraction. Increased shortening would result in a greater isometric torque deficit and morphological damage 24 hours post-injury. METHODS:Sixteen mice were randomly assigned to sham or injury predicated on stepped increases in AT shortening. The AT was exposed and placed in a customized stainless steel roller-clamp system to achieve a specific level of shortening; 0 mm (resting length), 0.7 mm or 1.4 mm. Plantar flexors were stimulated to tetany with a needle electrode and then actively lengthened at 450°/sec from neutral to 75° of dorsiflexion. Passive and isometric torques were measured pre- and immediately post-injury. Isometric torque was measured again 24 h post-injury. Peak isokinetic torque was recorded during eccentric injury. RESULTS:Injury resulted in decreased passive and immediate absolute isometric torque only when induced with AT shortening. The percentage of pre-injury isometric torque was significantly lower in the AT shortened groups immediately and 24 h post-injury, but was unaffected by the level of shortening. Relative isometric torque deficits were noted in the 0 mm group only 24 h post-injury. Peak isokinetic torque during injury was similar in all groups. Histological evaluation 24 h post-injury revealed increased morphological damage near the MTJ in the AT shortened groups. CONCLUSION:Single stretch with AT shortening created morphological damage near the MTJ and isometric torque deficits immediately and 24 h post-injury, but the magnitude of damage could not be titrated with stepped increases in AT shortening. This model provides an opportunity to utilize transgenic mice in order to elucidate inflammatory mediators that promote regeneration and inhibit fibrosis in order to optimize therapeutic interventions for complete functional recovery.

Dataset Information

Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg.

Publications

Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg.

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