A Tunable, Simplified Model for Biological Latch Mediated Spring Actuated Systems
A Tunable, Simplified Model for Biological Latch Mediated Spring Actuated Systems
复制标题
DOI：
10.1101/2020.12.02.408740
复制
发表时间：
2020-12
影响因子：
1.5
通讯作者：
Andrés Cook;Kaanthi Pandhigunta;Mason A. Acevedo;Adam Walker;Rosalie L. Didcock;Jackson T. Castro;Declan O’Neill;Raghav Acharya;M. S. Bhamla;P. S. Anderson;M. Ilton
中科院分区：
文献类型：
--
作者：
Andrés Cook;Kaanthi Pandhigunta;Mason A. Acevedo;Adam Walker;Rosalie L. Didcock;Jackson T. Castro;Declan O’Neill;Raghav Acharya;M. S. Bhamla;P. S. Anderson;M. Ilton
我们开发了一个模型的闩介导的弹簧驱动（LaMSA）系统相关的比较生物力学和bioinspired设计。该模型包含五个组件：两个电机（肌肉），一个弹簧，一个闩锁和一个负载质量。一个马达加载弹簧以存储弹性能量，并且第二马达随后移除闩锁，这释放弹簧并引起负载质量的移动。我们开发了开源软件来陪伴模型，它提供了一个可扩展的框架来模拟LaMSA系统。模拟的输出包括来自运动的加载和释放阶段的信息，这些信息可用于计算对生物力学功能很重要的运动学性能指标。同时，我们模拟了一个类似的直接驱动系统，该系统使用与LaMSA模拟相同的电机和质量组合。通过快速迭代通过生物相关的输入参数的模型，模拟LaMSA和直接驱动的系统之间的运动学性能差异，可以用来探索生物LaMSA系统的进化动力学，并揭示生物启发LaMSA系统的设计原则。作为这一概念的原理的证明，我们比较了一个LaMSA模拟直接驱动的模拟，其中包括一个希尔型力-速度权衡或肌肉激活动力学，或两者兼而有之。对于生物相关的参数范围内探索，我们发现，肌肉力-速度的权衡和肌肉激活直接驱动的性能有类似的影响。包括这两个动态肌肉特性增加了加速质量范围，其中LaMSA系统优于直接驱动的系统。
We develop a model of latch-mediated spring actuated (LaMSA) systems relevant to comparative biomechanics and bioinspired design. The model contains five components: two motors (muscles), a spring, a latch, and a load mass. One motor loads the spring to store elastic energy and the second motor subsequently removes the latch, which releases the spring and causes movement of the load mass. We develop open-source software to accompany the model, which provides an extensible framework for simulating LaMSA systems. Output from the simulation includes information from the loading and release phases of motion, which can be used to calculate kinematic performance metrics that are important for biomechanical function. In parallel, we simulate a comparable, directly actuated system that uses the same motor and mass combinations as the LaMSA simulations. By rapidly iterating through biologically relevant input parameters to the model, simulated kinematic performance differences between LaMSA and directly actuated systems can be used to explore the evolutionary dynamics of biological LaMSA systems and uncover design principles for bioinspired LaMSA systems. As proof of principle of this concept, we compare a LaMSA simulation to a directly actuated simulation that includes a either Hill-type force-velocity trade-off or muscle activation dynamics, or both. For the biologically-relevant range of parameters explored, we find that the muscle force-velocity trade-off and muscle activation have similar effects on directly actuated performance. Including both of these dynamic muscle properties increases the accelerated mass range where a LaMSA system outperforms a directly actuated one.