A consideration of the elbow as a tensegrity structure

Determining a musculoskeletal system's pre-stretched state using continuum-mechanical forward modelling and joint range optimization

The subject-specific range of motion (RoM) of a musculoskeletal joint system is balanced by pre-tension levels of individual muscles, which affects their contraction capability. Such an inherent pre-tension or pre-stretch of muscles is not measureable with in vivo experiments. Using a 3D continuum mechanical forward simulation approach for motion analysis of the musculoskeletal system of the forearm with 3 flexor and 2 extensor muscles, we developed an optimization process to determine the muscle fibre pre-stretches for an initial arm position, which is given human dataset. We used RoM values of a healthy person to balance the motion in extension and flexion. The performed sensitivity study shows that the fibre pre-stretches of the m. brachialis, m. biceps brachii and m. triceps brachii with 91 % dominate the objective flexion ratio, while m. brachiradialis and m. anconeus amount 7.8 % and 1.2 % . Within the multi-dimensional space of the surrogate model, 3D sub-spaces of primary variables, namely the dominant muscles and the global objective, flexion ratio, exhibit a path of optimal solutions. Within this optimal path, the muscle fibre pre-stretch of two flexors demonstrate a negative correlation, while, in contrast, the primary extensor, m. triceps brachii correlates positively to each of the flexors. Comparing the global optimum with four other designs along the optimal path, we saw large deviations, e.g., up to 15∘ in motion and up to 40% in muscle force. This underlines the importance of accurate determination of fibre pre-stretch in muscles, especially, their role in pathological muscular disorders and surgical applications such as free muscle or tendon transfer.

Cytoskeletal Tensegrity in Microgravity

In order for Man to venture further into Space he will have to adapt to its conditions, including microgravity. Life as we know it has evolved on Earth with a substantial gravitational field. If they spend considerable time away from Earth, astronauts experience physiological, mental, and anatomical changes. It is not clear if these are pathological or adaptations. However, it is true that they experience difficulties on their return to stronger gravity. The cytoskeleton is a key site for the detection of gravitational force within the body, due to its tensegrity architecture. In order to understand what happens to living beings in space, we will need to unravel the role cytoskeletal tensegrity architecture plays in the building and function of cells, organs, the body, and mind.

Does Attention Modify Contributions to Heaviness Perception?

Purpose: The current study investigated the effect of attention on heaviness perception and its physiological and kinematic contributions. Method: Participants lifted objects that varied in mass and volume while their muscle activity and movement were recorded. Participants were instructed to pay attention to their arm (internal) or the object (external). Results: While heaviness perception did not change as a function of attention, whether muscle activity and movement combined for perception differed across attention conditions. Specifically, muscle activity and movement combined to significantly predict heaviness perception in the external condition, but not the internal condition. Additionally, movement was more salient for perception in both conditions compared to previous research investigating the contribution of muscle activity and movement to heaviness perception. Conclusion: It is suggested that these results support the constrained action hypothesis, which suggests that adopting an external focus of attention benefits motor task performance and learning, and should be further explored in the context of a theory of haptic perception that suggests that the medium for haptic perception is the multifractal tensegrity structure of the body.

Rolling Locomotion of Cable-Driven Soft Spherical Tensegrity Robots

Soft spherical tensegrity robots are novel steerable mobile robotic platforms that are compliant, lightweight, and robust. The geometry of these robots is suitable for rolling locomotion, and they achieve this motion by properly deforming their structures using carefully chosen actuation strategies. The objective of this work is to consolidate and add to our research to date on methods for realizing rolling locomotion of spherical tensegrity robots. To predict the deformation of tensegrity structures when their member forces are varied, we introduce a modified version of the dynamic relaxation technique and apply it to our tensegrity robots. In addition, we present two techniques to find desirable deformations and actuation strategies that would result in robust rolling locomotion of the robots. The first one relies on the greedy search that can quickly find solutions, and the second one uses a multigeneration Monte Carlo method that can find suboptimal solutions with a higher quality. The methods are illustrated and validated both in simulation and with our hardware robots, which show that our methods are viable means of realizing robust and steerable rolling locomotion of spherical tensegrity robots.

Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts

Efforts in the research of tensegrity structures applied to mobile robots have recently been focused on a purely tensegrity solution to all design requirements. Locomotion systems based on tensegrity structures are currently slow and complex to control. Although wheeled locomotion provides better efficiency over distances there is no literature available on the value of wheeled methods with respect to tensegrity designs, nor on how to transition from a tensegrity structure to a fixed structure in mobile robotics. This paper is the first part of a larger study that aims to combine the flexibility, light weight, and strength of a tensegrity structure with the efficiency and simple control of a wheeled locomotion system. It focuses on comparing different types of tensegrity structure for applicability to a mobile robot, and experimentally finding an appropriate transitional region from a tensegrity structure to a conventional fixed structure on mobile robots. It applies this transitional structure to what is, to the authors' knowledge, the design of the world's first wheeled tensegrity robot that has been designed with the goal of traversing air ducts.