Design and Selection of Muscle Excitation Patterns for Modeling a Lower Extremity Joint Inspired Tensegrity

摘要

We propose a tensegrity-inspired design that emulates human lower extremity musculoskeletal connections as a network of rigid and tensile elements. Anatomical combinations of bones and muscles within joints provide structural stability, and manipulate configurations to maintain a standing position or enter a squat-like descent. We validated the predictions of our mathematical model with a computer simulation and a physical prototype. Bio-inspired joints controlled by muscle excitation patterns offers possibilities to revolutionize the innate flexibility within artificial limbs and future assistive devices.