Accession Number : ADA300380

Title :   The Mechanical Spindle. A Replica of the Mammalian Muscle Spindle,

Corporate Author : WASHINGTON UNIV SEATTLE DEPT OF ELECTRICAL ENGINEERING

Personal Author(s) : Marbot, Pierre-Henry ; Hannaford, Blake

PDF Url : ADA300380

Report Date : OCT 1994

Pagination or Media Count : 2

Abstract : The goal of the recently initiated anthroform arm main project is to understand the manipulation capabilities of the human arm through the development of a dynamically accurate replica arm. One key element is the mammalian muscle spindle responsible for position and velocity feedback. This paper describes the important spindle features that we are attempting to copy, as well as the mechanical and software aspects of our first prototype. The model and prototype include active modulation of spindles' non-linear response which models the gamma efference. The sensor that was developed can also be used for other applications, and shows unique adaptive properties.

Descriptors :   *MAMMALS, *MUSCLES, *SPINDLES, VELOCITY, COMPUTER PROGRAMS, MECHANICAL PROPERTIES, PROTOTYPES, NONLINEAR SYSTEMS, RESPONSE, FEEDBACK, ADAPTIVE SYSTEMS, MODULATION.

Subject Categories : Biology
      Machinery and Tools

Distribution Statement : APPROVED FOR PUBLIC RELEASE