vytas sunspiral carnegie mellon west nasa ames
DESCRIPTION
The Role of Connective Tissue and Tensegrity in Enabling a Hybrid Distributed/Centralized Control Scheme for Complex Coordinated Human Motion. Vytas SunSpiral Carnegie Mellon West NASA Ames. Manipulating the Environment. Spinal Posture Reflex. Animals Can Stand with Spinal Cord Severed !!!. - PowerPoint PPT PresentationTRANSCRIPT
1Vytas SunSpiral
The Role of Connective Tissue and Tensegrity in Enabling a Hybrid Distributed/Centralized Control Scheme for Complex Coordinated
Human Motion
Vytas SunSpiral
Carnegie Mellon
West
NASA Ames
2Vytas SunSpiral
Manipulating the Environment
3Vytas SunSpiral
Spinal Posture Reflex
Animals Can Stand with Spinal Cord Severed !!!
Brain Stem Includes Inner Ear
If Brain Stem Included,
Can stand on tilting table and will resist being pushed
4Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
5Vytas SunSpiral
Fascia
- Extracellular
- Continuous
- Surrounds Bone and Muscle
- Ligaments, Tendons, Aponeurosis
6Vytas SunSpiral
Connective TissueThree Views of the Knee
7Vytas SunSpiral
Connective TissueThree Views of the Knee
8Vytas SunSpiral
Connective TissueThree Views of the Knee
9Vytas SunSpiral
History of Study of Connective Tissue
Kinesis Myofascial
Integration
Oct. 2007, Harvard Medical School
10Vytas SunSpiral
Force Propagation
- Force transmission across lumbar fascia
- Proprioceptive sensors concentrated
@ muscle/fascia boundary
- Extramuscular force transmission
11Vytas SunSpiral
The Harness
12Vytas SunSpiral
Anatomy Trains
13Vytas SunSpiral
Many Muscles Act Directly on Harness
14Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
15Vytas SunSpiral
Tensegrity
First explored by Kennith Snelson in 1960’s
Named by Buckminster Fuller: “Tension” +
“Structural Integrity”
16Vytas SunSpiral
Compression and Tension
17Vytas SunSpiral
Properties of Tensegrities
- Force Distribution
- Controllable Stiffness
- No lever
- Low potential energy change to move.
- No Friction
- No Member Bending
- High strength to weight
- Spring Dynamics- Torsion spring
18Vytas SunSpiral
Tensegrity Robots
19Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
20Vytas SunSpiral
Biotensegrity
Dr Levin – Orthopedic Surgeon
Axial loads on joints of live subjects
Could not force contact
While ligaments intact!
21Vytas SunSpiral
Biomechanics
Rigid Body Analysis Gives Impossible Answers!
Calculated: 36,000N
Max: 9,600 N
22Vytas SunSpiral
Gravity
Animals are in near constant motion.
We constantly change our orientation towards gravity field.
23Vytas SunSpiral
Biotensegrity Models
24Vytas SunSpiral
Cellular Tensegrity
Microtubules, microfilaments and intermediate filaments within the cytoskeleton of endothelial cells
25Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
26Vytas SunSpiral
Spinal Posture Reflex
Animals Can Stand with Spinal Cord Severed !!!
Brain Stem Includes Inner Ear
If Brain Stem Included,
Can stand on tilting table and will resist being pushed
27Vytas SunSpiral
Martial Arts – Push Back Reflex
28Vytas SunSpiral
Muscle Spindle
29Vytas SunSpiral
Muscle Spindle Closed Loop
30Vytas SunSpiral
Gamma System – Set Zero Point?
31Vytas SunSpiral
Muscle Length Maintenance
32Vytas SunSpiral
Golgi Tendon Organ
33Vytas SunSpiral
Decentralized Minimal Force Position Maintenance
34Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
35Vytas SunSpiral
Purposeful Motion Control
Signals from Motor Cortex Interact with
Closed Loop Control System
36Vytas SunSpiral
Martial Arts – Trained Motion
37Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
38Vytas SunSpiral
Implementation – Air Muscles
The relationship between pressure and force is linear at constant extensions.
New: High Reliability
Over 10 million cycles
39Vytas SunSpiral
Implementation - Sensors
Muscle Spindle = Flexible Stretch Sensors
Golgi Organ = Strain Gauge
41Vytas SunSpiral
Fascia Contracts
-Fascia can contract and relax!
-Slowly! Adaptation to change/habit/injury
42Vytas SunSpiral
Cross Section of Thigh
Is the Femur weight bearing?
43Vytas SunSpiral
Spinal Nerves
In the accompanying Diagram, which is designed in part as a
mnemonic, extensor motor neurones are indicated by
rectangles, flexors by triangles. More proximal motor neurones
have larger motor units (larger symbols) than more distal ones.