Modeling and simulation of complex dynamic musculoskeletal architectures
Modeling and simulation of complex dynamic musculoskeletal architectures
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DOI：
10.1038/s41467-019-12759-5
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发表时间：
2019-10-23
影响因子：
16.6
通讯作者：
Gazzola, Mattia
中科院分区：
文献类型：
--
作者：
Zhang, Xiaotian;Chan, Fan Kiat;Gazzola, Mattia
从鱼类和头足类动物到蛇和鸟类，自然生物结合了神经控制、感觉反馈和顺从机制，可以在动态、不确定的环境中有效地运作。为了促进对生物物理机制的理解并简化其在工程应用中的潜在用途，我们在此提出了一种用于模拟肌肉骨骼结构的通用数值方法。它依赖于将异质、主动和被动 Cosserat 杆组装成动态结构，对骨骼、肌腱、韧带、纤维和肌肉连接进行建模。我们展示了它在涉及跨尺度和环境的生物和软机器人场景的一系列问题中的实用性：从毫米长生物混合机器人的工程到复杂肌肉骨骼系统的合成和重建。这种方法的多功能性提供了一个框架，以帮助正向和反向生物工程设计以及生物体功能的基本发现。
Natural creatures, from fish and cephalopods to snakes and birds, combine neural control, sensory feedback and compliant mechanics to effectively operate across dynamic, uncertain environments. In order to facilitate the understanding of the biophysical mechanisms at play and to streamline their potential use in engineering applications, we present here a versatile numerical approach to the simulation of musculoskeletal architectures. It relies on the assembly of heterogenous, active and passive Cosserat rods into dynamic structures that model bones, tendons, ligaments, fibers and muscle connectivity. We demonstrate its utility in a range of problems involving biological and soft robotic scenarios across scales and environments: from the engineering of millimeter-long bio-hybrid robots to the synthesis and reconstruction of complex musculoskeletal systems. The versatility of this methodology offers a framework to aid forward and inverse bioengineering designs as well as fundamental discovery in the functioning of living organisms.