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

与传统机器人不同，在传统机器人中，只有一个执行器控制单个关节的运动，而人类有几对相互对抗的肌肉，包括双关节肌肉。这些肌肉一起工作，同时移动两个关节，控制粘弹性和四肢末端产生的力。从这个角度出发，我们提出了一种简化的下肢连接模型，该模型不仅考虑了各个关节的单关节肌肉，而且还考虑了双关节肌肉。然后，我们证明了腓肠肌的平行连接机制，即沿着小腿后方的双关节肌肉，强烈地参与了稳定跳跃运动，以及股骨区域三对肌肉的协调收缩机制有助于吸收在着陆运动中产生的力。

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.