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Vytas SunSpiral Carnegie Mellon West NASA Ames

The Role of Connective Tissue and Tensegrity in Enabling a Hybrid Distributed/Centralized Control Scheme for Complex Coordinated Human Motion. Vytas SunSpiral Carnegie Mellon West NASA Ames. Manipulating the Environment. Spinal Posture Reflex. Animals Can Stand with Spinal Cord Severed !!!.

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Vytas SunSpiral Carnegie Mellon West NASA Ames

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  1. The Role of Connective Tissue and Tensegrity in Enabling a Hybrid Distributed/Centralized Control Scheme for Complex Coordinated Human Motion Vytas SunSpiral Carnegie Mellon West NASA Ames

  2. Manipulating the Environment

  3. Spinal Posture Reflex • Animals Can Stand with Spinal Cord Severed !!! Brain Stem Includes Inner Ear If Brain Stem Included, Can stand on tilting table and will resist being pushed

  4. Control System Outline Physical System + Implementation

  5. Fascia • Extracellular • Continuous • Surrounds Bone and Muscle • Ligaments, Tendons, Aponeurosis

  6. Connective TissueThree Views of the Knee

  7. Connective TissueThree Views of the Knee

  8. Connective TissueThree Views of the Knee

  9. History of Study of Connective Tissue Kinesis Myofascial Integration Oct. 2007, Harvard Medical School

  10. Force Propagation • Force transmission across lumbar fascia • Proprioceptive sensors concentrated @ muscle/fascia boundary • Extramuscular force transmission

  11. The Harness

  12. Anatomy Trains

  13. Many Muscles Act Directly on Harness

  14. Control System Outline Physical System + Implementation

  15. Tensegrity • First explored by Kennith Snelson in 1960’s Named by Buckminster Fuller: “Tension” + “Structural Integrity”

  16. Compression and Tension

  17. Properties of Tensegrities • Force Distribution • Controllable Stiffness • No lever • Low potential energy change to move. • No Friction • No Member Bending • High strength to weight • Spring Dynamics • Torsion spring

  18. Tensegrity Robots

  19. Control System Outline Physical System + Implementation

  20. Biotensegrity Dr Levin – Orthopedic Surgeon Axial loads on joints of live subjects Could not force contact While ligaments intact!

  21. Biomechanics Rigid Body Analysis Gives Impossible Answers! Max: 9,600 N Calculated: 36,000N

  22. Gravity • Animals are in near constant motion. • We constantly change our orientation towards gravity field.

  23. Biotensegrity Models

  24. Cellular Tensegrity Microtubules, microfilaments and intermediate filaments within the cytoskeleton of endothelial cells

  25. Control System Outline Physical System + Implementation

  26. Spinal Posture Reflex • Animals Can Stand with Spinal Cord Severed !!! Brain Stem Includes Inner Ear If Brain Stem Included, Can stand on tilting table and will resist being pushed

  27. Martial Arts – Push Back Reflex

  28. Muscle Spindle

  29. Muscle Spindle Closed Loop

  30. Gamma System – Set Zero Point?

  31. Muscle Length Maintenance

  32. Golgi Tendon Organ

  33. Decentralized Minimal Force Position Maintenance

  34. Control System Outline Physical System + Implementation

  35. Purposeful Motion Control Signals from Motor Cortex Interact with Closed Loop Control System

  36. Martial Arts – Trained Motion

  37. Control System Outline Physical System + Implementation

  38. Implementation – Air Muscles • The relationship between pressure and force is linear at constant extensions. New: High Reliability Over 10 million cycles

  39. Implementation - Sensors • Muscle Spindle = Flexible Stretch Sensors Golgi Organ = Strain Gauge

  40. Questions? • Vytas@SunSpiral.org

  41. Fascia Contracts • Fascia can contract and relax! • Slowly! Adaptation to change/habit/injury

  42. Cross Section of Thigh Is the Femur weight bearing?

  43. Spinal Nerves In the accompanying Diagram, which is designed in part as a mnemonic, extensor motor neurones are indicated by rectangles, flexors by triangles. More proximal motor neurones have larger motor units (larger symbols) than more distal ones.

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