Abstract
A basic 22-segment model of the upper extremity is formulated that can allow computational testing of hypotheses about the control and coordination of the upper extremity by the central nervous system. The formulation allows for further analytical, anatomical, physiological, and bio-mechanical expansion and improvement of the model. It allows for inclusion of all passive structures: ligaments, membranes, soft tissues, and cartilages. The formulation is based on the state space formulation of the Newton-Euler method applied to multi-body systems. Extensive use is made of three-segment rigid body modules, constraints, reduction of dimensionality, projection, and matrices of large dimensions.An example, gliding motion of a rigid body on a circular surface (as in wiping a dish with a pre-specified force of contact) shows the application of some of the concepts and feasibility of the developed routines. The control is based on analogous strategies in living systems where co-activation of agonist-antagonist muscular systems and precise reference inputs implement the desirable trajectories of motion and where an integral feedback of the force implements the desired forces of contact.
Highlights
The problem considered here is one step in the direction of developing a computational model of the upper extremity for the following long range purposes: 1) allow computational and neural structures of the central nervous system (CNS) to be designed, tested and improved, 2) allow computational experiments that cause fracture, damage, and injury to passive and active structures of the human body; and 3) help the design of artificial limbs and their interface to the natural system.The model consists of four rigid body segments representing two shoulder segments and the upper and lower arm, plus eighteen segments, three for each finger and three for the palm
1991) is consistent with a number of hypotheses (Doeringer & Hogan, 1998; Iqbal & Roy, 2009) and experiments Kornhuber (1973) about the CNS being involved in the production of “ramp-type” signals generated in the basal ganglia and the reticular formation that propagate to the spinal cord
The simplified model considered here is composed of 22 rigid bodies representing the two shoulder girdle elements, arm and forearm elements, and six three-segment components Two different models can be envisioned: healthy movements and situations where no injuries, accidents and dislocations take place; and environments in which the system is subject to large stresses and strains where the passive structures may break, mal-function, etc
Summary
The problem considered here is one step in the direction of developing a computational model of the upper extremity for the following long range purposes: 1) allow computational and neural structures of the central nervous system (CNS) to be designed, tested and improved, 2) allow computational experiments that cause fracture, damage, and injury to passive and active structures of the human body; and 3) help the design of artificial limbs and their interface to the natural system. Kandel et al, 1991) is consistent with a number of hypotheses (Doeringer & Hogan, 1998; Iqbal & Roy, 2009) and experiments Kornhuber (1973) about the CNS being involved in the production of “ramp-type” signals generated in the basal ganglia and the reticular formation that propagate to the spinal cord. It is consistent with other findings that long loop reflexes may not be involved in postural adjustment mer.ccsenet.org.
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