Biomechanical Simulation and Control of Hands and Tendinous Systems

摘要

The tendons of the hand and other biomechanical systems formrna complex network of sheaths, pulleys, and branches. By modelingrnthese anatomical structures, we obtain realistic simulationsrnof coordination and dynamics that were previously not possible.rnFirst, we introduce Eulerian-on-Lagrangian discretization of tendonrnstrands, with a new selective quasistatic formulation that eliminatesrnunnecessary degrees of freedom in the longitudinal direction, whilernmaintaining the dynamic behavior in transverse directions. Thisrnformulation also allows us to take larger time steps. Second, wernintroduce two control methods for biomechanical systems: first,rna general-purpose learning-based approach requiring no previousrnsystem knowledge, and a second approach using data extracted fromrnthe simulator. We use various examples to compare the performancernof these controllers.