Mechanical Properties of Link Model with Lower Extremity Muscle Arrangement during the landing and jumping motion

点击翻译按钮获取中文摘要

Unlike conventional robots, in which a single actuator controls the movements of a single joint, humans have pairs of antagonistic muscles, including bi-articular muscles. These muscles function together to simultaneously move two joints, controlling the viscoelasticity and the force generated at the ends of the four extremities. From this perspective, we proposed a simplified lower-extremity link model that takes into consideration not only the mono-articular muscles of the various joints, but the bi-articular muscles as well. We then demonstrated that the parallel link mechanism of the gastrocnemius muscle, the bi-articular muscle along the posterior crus, is strongly involved in stabilizing a jumping motion, and that the coordinated contraction mechanism of the three pairs of muscles in the femoral region contributes to absorbing the force generated during the landing motion.