 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4810 |
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| I. A. Kopylov, P. A. Kruchinin, and I. V. Novozhilov, "On the implementation of motions according to N. A. Bernshtein," Mech. Solids. 38 (5), 31-39 (2003) |
| Year |
2003 |
Volume |
38 |
Number |
5 |
Pages |
31-39 |
| Title |
On the implementation of motions according to N. A. Bernshtein |
| Author(s) |
I. A. Kopylov (Moscow)
P. A. Kruchinin (Moscow)
I. V. Novozhilov (Moscow) |
| Abstract |
N. A. Bernshtein has formulated a number of statements as regards the character of motion of mammals. According to him, (i) an arbitrary motion is formed by a combination of standard motions (synergies), (ii) the control of motion is organized in accordance with the feedback concept and the control system is hierarchical with respect to the time response, and (iii) the synergies are stable.
In what follows, by synergies we understand a genetically determined change (in time) of the configuration of the skeleton, the kinematic redundancy of which is solved by the imposition of servo constraints implemented by muscles.
These statements have been formulated in a general form and have not been developed to analytical or computational recommendations.
In the literature on the locomotion of mammals, torques at the joints of the skeleton linkage are commonly regarded as the force factors that provide the motion. See, for example, [2, 3]. In this case, to implement a synergetic motion, the control of all drives creating these torques must be strictly coordinated.
On the other hand, the motion of mammals is implemented by muscles which possess a number of specific features. A muscle is a contraction element able to create only contraction forces. A significant number of muscles are two-joint ones. They are attached with a sinew to the skeleton members separated by two joints. The force action of such muscles cannot be modeled by joint torques; the relative changes in the length of the muscles during the change of the skeleton configuration in the large are small.
In this paper we consider the global flexion synergy of a human to show that Bernshtein's statements hold to a great extent due to the anatomical and functional features of the skeleton-muscle system and that the implementation of this synergy does not impose hard requirements on the control. |
| References |
| 1. | N. A. Bernshtein, Physiology of Motions and Activities
[in Russian], Nauka, Moscow, 1990. |
| 2. | V. V. Beletskii, Biped Walking
[in Russian], Nauka, Moscow, 1984. |
| 3. | Yu. V. Bolotin and I. V. Novozhilov,
"Control of the gait of a two-legged walking machine,"
Izv. AN SSSR. MTT [in Russian], No. 3 pp. 47-52, 1977. |
| 4. | A. M. Zhuravlev et al., Surgical Correction of the Posture and Gait in the Case of Children's Cerebral Palsy
[in Russian], Aiastan, Yerevan, 1986. |
| 5. | I. S. Perkhurova, V. M. Luzinovich,
and E. G. Sologubov, Regulation of Posture and Gait in the Case of Children's Cerebral Palsy and some Methods of Correction
[in Russian], Kn. Palata, Moscow, 1996. |
| 6. | R. Blickhan. "Elastic mechanisms in fast legged
locomotion," in Proc. Europ. Mechanics Colloq. Euromech 373.
Biology and Technology of Walking, pp. 3-10, Munich, Germany, 1998. |
| 7. | A. Pedotty, "Motor coordination and neuromuscular activities in human locomotion," in CISM Courses and Lectures, No. 263, pp. 79-129,
Springer, Wien, New York, 1980. |
| 8. | M. G. Prives, N. K. Lysenkov, and V. I. Bushkevich,
Anatomy of Human [in Russian], Meditsina, Leningrad, 1974. |
| 9. | M. F. Ivanitskii,
Anatomy of Human [in Russian], Fizkul'tura i Sport, Moscow, 1969. |
| 10. | V. S. Gurfinkel', Ya. M. Kots, and M. L. Shik,
Control of Human Posture
[in Russian], Nauka, Moscow, 1965. |
| 11. | I. V. Novozhilov, Fractional Analysis
[in Russian], Izd-vo Mekh. Mat. Fakul'teta MGU, Moscow, 1991. |
| 12. | A. G. Fel'dman, Central and Reflex Mechanisms of Control of Motions
[in Russian], Nauka, Moscow, 1979. |
|
| Received |
30 May 2001 |
| << Previous article | Volume 38, Issue 5 / 2003 | Next article >> |
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