A Biological Control Model of a One-Link Neuromusculoskeletal Sagittal Arm
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Publisher:The Ohio State University
Series/Report no.:The Ohio State University. Department of Electrical and Computer Engineering Honors Theses; 2006
The focus of this thesis is the analysis of stability, point-to-point, and periodic motion of a one link neuromusculoskeletal sagittal arm with and without linear tendons. The stability of equilibria is examined for models with and without tendons in an effort to deduce the role the aforementioned organ plays in the overall system dynamics. Simple cases of periodic and point-to-point movements are also analyzed. The tracking of a reference input is formulated as an sub-optimal control problem with control laws derived from system linearizations. Optimality criteria are incorporated into the control law design process via minimization of cost functions based on the arms end point variance. We hope to determine the optimal configurations necessary for biological efficiency and to provide insight into the biophysical rules behind such strategies. Additionally, potential causes of deficient movement control, such as those present in Parkinson's disease, are modeled by carefully selected simulations of periodic movements. Such simulations may provide clues to future courses of treatment.
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