肌肉预刺激调节腿跳中的类粘性扰动抑制
Muscle pre-stimulation tunes viscous-like perturbation rejection in legged hopping
摘要：
肌肉纤维具有独特的粘弹性，能够对意外的扰动产生稳定的零延迟响应。这种瞬时反应--被称为“前屈”--在神经传递延迟的情况下是至关重要的，由于站立时间短，这在快速运动期间特别危险。虽然弹性对预弯曲的贡献已被广泛研究，但由于力-速度关系而对纤维粘度的作用的研究仍然未被探索。此外，肌肉模型预测饱和力-速度关系的条件，导致粘性纤维接合减少。本研究的目的是分离和量化由力-速度关系产生的预屈力。我们用我们的方法来分析两个扰动的垂直跳跃条件，不同的粘度在触地接合。这两种情况下表现出稳定的跳跃模式，尽管减少粘性样的地面扰动的饱和情况下的反应。此外，力速关系并不是能量调整的主导因素。从机器人的角度来看，我们的研究结果表明，已经有一个简单的，恒定的阻尼器平行安装到一个致动器可以提供稳定的预弯曲和冲击后不久。
英文摘要：
Muscle fibres possess unique visco-elastic properties, capable of generating a stabilising zero-delay response to unexpected perturbations. This instantaneous response -- termed "preflex" -- is crucial in the presence of neuro-transmission delays, which are particularly hazardous during fast locomotion due to the short stance duration. While the elastic contribution to preflexes has been studied extensively, research on the role of fibre viscosity due to the force-velocity relation remains unexplored. Moreover, muscle models predict conditions with saturated force-velocity relations resulting in reduced viscous-like fibre engagement. The goal of our study is to isolate and quantify the preflex force produced by the force-velocity relation. We use our approach to analyse two perturbed vertical hopping conditions, differing in their viscosity engagement at touch-down. Both cases showed stable hopping patterns despite the reduced viscous-like response to ground perturbations in the saturated case. Moreover, the force-velocity relation was not the predominant factor driving energy adjustment to disturbance intensity. From a robotics perspective, our results suggest that already a simple, constant damper mounted in parallel to an actuator could provide stabilising preflexes at and shortly after impact.
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