vytas sunspiral carnegie mellon west nasa ames
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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
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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
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Manipulating the Environment
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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
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Outline
+Physical
System
Control
System
Implementation
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Fascia
- Extracellular
- Continuous
- Surrounds Bone and Muscle
- Ligaments, Tendons, Aponeurosis
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Connective TissueThree Views of the Knee
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Connective TissueThree Views of the Knee
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Connective TissueThree Views of the Knee
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History of Study of Connective Tissue
Kinesis Myofascial
Integration
Oct. 2007, Harvard Medical School
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Force Propagation
- Force transmission across lumbar fascia
- Proprioceptive sensors concentrated
@ muscle/fascia boundary
- Extramuscular force transmission
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The Harness
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Anatomy Trains
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Many Muscles Act Directly on Harness
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Outline
+Physical
System
Control
System
Implementation
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Tensegrity
First explored by Kennith Snelson in 1960’s
Named by Buckminster Fuller: “Tension” +
“Structural Integrity”
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Compression and Tension
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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
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Tensegrity Robots
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Outline
+Physical
System
Control
System
Implementation
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Biotensegrity
Dr Levin – Orthopedic Surgeon
Axial loads on joints of live subjects
Could not force contact
While ligaments intact!
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Biomechanics
Rigid Body Analysis Gives Impossible Answers!
Calculated: 36,000N
Max: 9,600 N
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Gravity
Animals are in near constant motion.
We constantly change our orientation towards gravity field.
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Biotensegrity Models
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Cellular Tensegrity
Microtubules, microfilaments and intermediate filaments within the cytoskeleton of endothelial cells
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Outline
+Physical
System
Control
System
Implementation
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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
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Martial Arts – Push Back Reflex
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Muscle Spindle
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Muscle Spindle Closed Loop
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Gamma System – Set Zero Point?
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Muscle Length Maintenance
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Golgi Tendon Organ
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Decentralized Minimal Force Position Maintenance
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34Vytas SunSpiral
Outline
+Physical
System
Control
System
Implementation
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Purposeful Motion Control
Signals from Motor Cortex Interact with
Closed Loop Control System
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Martial Arts – Trained Motion
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Outline
+Physical
System
Control
System
Implementation
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Implementation – Air Muscles
The relationship between pressure and force is linear at constant extensions.
New: High Reliability
Over 10 million cycles
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Implementation - Sensors
Muscle Spindle = Flexible Stretch Sensors
Golgi Organ = Strain Gauge
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Fascia Contracts
-Fascia can contract and relax!
-Slowly! Adaptation to change/habit/injury
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Cross Section of Thigh
Is the Femur weight bearing?
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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.