What Generates Torques

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What Generates Torques

• Muscle physiology
• Simple model of a muscle
• Virtual work
• Moment arm
• The sensory side of the muscle

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What Generates Force
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http//www.getbodysmart.com/ap/muscletissue/contra
ction/coupling/tutorial.html
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This is the impulse response of the muscle, thus
we can simply Convolve it with our input
activity to generate the tension produced by the
muscle. You can think of the convolution
operation as a sort of moving average.
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Matlab demonstration using the sinewave generator
function You made for homework
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The amount of force from the muscle that
becomes torque is based on the projection of
that force perpendicular to the skeletal segment
being moved. Like when pushing a door.
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Converting Force to Torque

• Virtual Work
• For a linear system
• F ma and Work F dist

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Converting Force to TorqueSee web supplemental
info for the textbook (Shadmehr and
Wise)http//webhost5.nts.jhu.edu/reza/book/index.
htm
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Go to muscle lectures and model demonstration
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Equilibrium Points and motor primitives

• From deafferented monkeys
• From spinal cord stimulation
• From motor cortex stimulation

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