Model-based sensorimotor integration for multi-joint control: Development of a virtual arm model

Annals of Biomedical Engineering

Volumn 36, Issue 6, 2008, Pages 1033-1048

  Song, D ^a   Lan, N ^b   Loeb, G E ^a   Gordon, J ^b  

^a University of Southern California   (United States)

^b UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

Computational models; GTO; Joints; Matlab and Simulink; Muscles; Sensorimotor control; Simulation; Spindles

Indexed keywords

COMPUTER SIMULATION; MATHEMATICAL MODELS; MATLAB; MUSCLE;

SENSORIMOTOR CONTROL; SIMULINK; SPINDLES;

JOINTS (ANATOMY);

ARM; ARTICLE; BIOLOGICAL MODEL; COMPUTER INTERFACE; COMPUTER SIMULATION; FEEDBACK SYSTEM; HUMAN; JOINT; METHODOLOGY; MUSCLE CONTRACTION; MUSCLE SPINDLE; PHYSIOLOGY; ROBOTICS; SENSATION; SKELETAL MUSCLE; SYSTEM ANALYSIS;

ARM; COMPUTER SIMULATION; FEEDBACK; HUMANS; JOINTS; MODELS, BIOLOGICAL; MUSCLE CONTRACTION; MUSCLE SPINDLES; MUSCLE, SKELETAL; ROBOTICS; SENSATION; SYSTEMS INTEGRATION; USER-COMPUTER INTERFACE;

EID: 43449122160     PISSN: 00906964     EISSN: 15739686     Source Type: Journal    
DOI: 10.1007/s10439-008-9461-8     Document Type: Article

References (52)

1. Abend W., Bizzi E., Morasso P. 1982 Human arm trajectory formation. Brain 105: 331-348
2. Alstermark, B., N. Lan, and L.-G. Pettersson. Building a realistic neuronal model that simulates multi-joint arm and hand movements in 3D-space. HFSP Journal 1(4):209-214, 2007
3. Blemker S. S., Delp S. L. 2005 Three-dimensional representation of complex muscle architectures and geometries. Ann. Biomed. Eng. 33: 661-673
4. Brown I. E., Cheng E. J., Loeb G. E. 1999 Measured and modeled properties of mammalian skeletal muscle. II. The effects of stimulus frequency on force-length and force-velocity relationships. J. Muscle Res. Cell Motil. 20: 627-643
5. Brown I. E., Loeb G. E. 1999 Measured and modeled properties of mammalian skeletal muscle. I. The effects of post-activation potentiation on the time course and velocity dependencies of force production. J. Muscle Res. Cell Motil. 20: 443-456
6. Brown I. E., Loeb G. E. 2000 Measured and modeled properties of mammalian skeletal muscle: III. The effects of stimulus frequency on stretch-induced force enhancement and shortening-induced force depression. J. Muscle Res. Cell Motil. 21: 21-31
7. Brown I. E., Loeb G. E. 2000 Measured and modeled properties of mammalian skeletal muscle: IV. Dynamics of activation and deactivation. J. Muscle Res. Cell Motil. 21: 33-47
8. Burdet E., Osu R., Franklin D. W., Milner T. E., Kawato M. 2001 The central nervous system stabilizes unstable dynamics by learning optimal impedance. Nature 414: 446-449
9. Capaday C., Cooke J. D. 1983 Vibration-induced changes in movement-related EMG activity in humans. Exp. Brain Res. 52: 139-146
10. Cheng E. J., Brown I. E., Loeb G. E. 2000 Virtual muscle: a computational approach to understanding the effects of muscle properties on motor control. J. Neurosci. Methods 101: 117-130
11. Cordo P. J., Flores-Vieira C., Verschueren S. M. P., Inglis J. T., Gurfinkel V. 2002 Position sensitivity of human muscle spindles: single afferent and population representations. J. Neurophysiol. 87: 1186-1195
12. Cordo P., Gandevia S. C., Hales J. P., Burke D., Laird G. 1993 Force and displacement-controlled tendon vibration in humans. Electroen. Clin. Neurophysiol. 89: 45-53
13. Crago P. E., Houk J. C., Rymer W. Z. 1982 Sampling of total muscle force by tendon organs. J. Neurophysiol. (Bethesda) 47: 1069-1083
14. Davoodi, R., I. E. Brown, N. Lan, M. Mileusnic, and G. E. Loeb. An integrated package of neuromusculo-skeletal modeling tools in SimulinkTM. In: 23rd IEEE/EMBS Ann Int'l Conf 2001
15. Delp S. L., Loan J. P. 1995 A graphics-based software system to develop and analyze models of musculoskeletal structures. Comput. Biol. Med. 25: 21-34
16. Flash T. 1987 The control of hand equilibrium trajectories in multijoint arm movements. Biol. Cybern. 57: 257-274
17. Garner B. A., Pandy M. G. 2001 Musculoskeletal model of the upper limb based on the visible human male dataset. Comput. Methods Biomech. Biomed. Eng. 4: 93-126
18. Garner B. A., Pandy M. G. 2003 Estimation of musculotendon properties in the human upper limb. Ann. Biomed. Eng. 31: 207-220
19. Ghez C., Gordon J., Ghilardi M. F., Christakos C. N., Cooper S. E. 1990 Roles of proprioceptive input in the programming of arm trajectories. Cold Spring Harb. Symp. Quant. Biol. 55: 837-847
20. Gonzalez R. V., Hutchins E. L., Barr R. E., Abraham L. D. 1996 Development and evaluation of a musculoskeletal model of the elbow joint complex. J. Biomech. Eng. Trans. ASME 118: 32-40
21. Gordon J., Ghilardi M. F., Ghez C. 1995 Impairments of reaching movements in patients without proprioception. 1. Spatial Errors J. Neurophysiol. 73, 347-360
22. Haugstvedt J. R., Berger R. A., Berglund L. J. 2001 A mechanical study of the moment-forces of the supinators and pronators of the forearm. Acta Orthop. Scand. 72: 629-634
23. Hogan N. 1985 The mechanics of multi-joint posture and movement control. Biol. Cybern. 52: 315-332
24. Holzbaur K. R. S., Murray W. M., Delp S. L. 2005 A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control. Ann. Biomed. Eng. 33: 829-840
25. Johnson M. A., Polgar J., Weightman D., Appleton D. 1973 Data on the distribution of fibre types in 36 human muscles, an autopsy study. J. Neurol. Sci. 18: 111-129
26. Kuechle D. K., Newman S. R., Itoi E., Morrey B. F., An K. N. 1997 Shoulder muscle moment arms during horizontal flexion and elevation. J. Shoulder Elb. Surg. 6: 429-439
27. Lan N. 1997 Analysis of an optimal control model of multi-joint arm movements. Biol. Cybern. 76: 107-117
28. Lan, N., and L. Baker. Biomechanical couplings between elbow and forearm movements. In: Proc. 26th IEEE/EMBS Ann. Intl. Conf., San Francisco, CA, Sept. 2004
29. Lan N., Crago P. E. 1994 Optimal-control of antagonistic muscle-stiffness during voluntary movements. Biol. Cybern. 71: 123-135
30. Lan N., Li Y., Sun Y., Yang F. S. 2005 Reflex regulation of antagonist muscles for control of joint equilibrium position. IEEE Trans. Neural Syst. Rehabil. Eng. 13, 60-71
31. Lan, N., and T. Murakata. A realistic human elbow model for dynamic simulation. In: Proc. 25th Ann. Meeting ASB, San Diego, CA, pp. 267-268, August, 2001
32. Lan, N., D. Song, and J. Gordon. Systems engineering approach to computational sensorimotor control. In: 28th International Symposium of Computational Neuroscience. Montréal, Canada, 2006
33. Langenderfer J., Jerabek S. A., Thangamani V. I., Kuhn J. E., Hughes R. E. 2004 Musculoskeletal parameters of muscles crossing the shoulder and elbow and the effect of sarcomere length sample size on estimation of optimal muscle length. Clin. Biomech. 19: 664-670
34. Lemay M. A., Crago P. E. 1996 A dynamic model for simulating movements of the elbow, forearm, and wrist. J. Biomech. 29(10):1319-1330
35. Lin C. C. K., Crago P. E. 2002 Structural model of the muscle spindle. Ann. Biomed. Eng. 30: 68-83
36. Loeb G. E., Brown I. E., Cheng E. J. 1999 A hierarchical foundation for models of sensorimotor control. Exp. Brain Res. 126: 1-18
37. Mileusnic M. P., Brown I. E., Lan N., Loeb G. E. Mathematical models of proprioceptors: I. Control and transduction in the muscle spindle J. Neurophysiol. 96(4):1772-1788, 2006
38. Mileusnic M. P., Loeb G. E. Mathematical models of proprioceptors: II. Structure and function of the Golgi tendon organ. J. Neurophysiol. 96(4):1172-1802, 2006
39. Murray W. M., Buchanan T. S., Delp S. L. 2000 The isometric functional capacity of muscles that cross the elbow. J. Biomech. 33: 943-952
40. Murray W. M., Delp S. L., Buchanan T. S. 1995 Variation of muscle moment arms with elbow and forearm position. J. Biomech. 28: 513-525
41. Perreault E. J., Kirsch R. F., Crago P. E. 2002 Voluntary control of static endpoint stiffness during force regulation tasks. J. Neurophysiol. 87: 2808-2816
42. Schweighofer N., Arbib M. A., Kawato M. 1998 Role of the cerebellum in reaching movements in humans. I. Distributed inverse dynamics control. Eur. J. Neurosci. 10: 86-94
43. Scott S. H., Loeb G. E. 1994 The computation of position sense from spindles in mono- and multiarticular muscles. J. Neurosci. 14: 7529-7540
44. Seireg, A., and R. Arvikar. Biomechanical Analysis of the Musculoskeletal Structure for Medicine and Sports. Hemisphere Publishing Corp., p. 93, 1989
45. Song, D., N. Lan, and J. Gordon. Biomechanical constraints on equilibrium point control of the multi-joint arm. A simulation study, ASB 2007 Conference, Stanford Univ., CA, August 2007
46. Song, D., M. Mileusnic, N. Lan, and J. Gordon. A sensorimotor systems model for dynamic simulation of arm movement control. In: 16th Annual Neural Control of Movement Meeting. Key biscayn Florida, USA: 2006
47. Stein R. B., Weber D. J., Aoyagi Y., Prochazka A., Wagenaar J. B. M., Shoham S., Normann R. A. 2004 Coding of position by simultaneously recorded sensory neurones in the cat dorsal root ganglion. J. Physiol. Lond. 560: 883-896
48. Veeger H. E. J, Yu B., An K. N., Rozendal R. H. 1997 Parameters for modeling the upper extremity. J. Biomech. 30: 647-652
49. Wood J. E., Meek S. G., Jacobsen S. C. 1989 Quantitation of human shoulder anatomy for prosthetic arm control. 1. Surface modeling. J. Biomech. 22, 273
50. Wu G., van der Helm F. C. T., Veeger H. E. J., Makhsous M., Van Roy P., Anglin C., Nagels J., Karduna A. R., McQuade K., Wang X. G., Werner F. W., Buchholz B. 2005 ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion-Part II: shoulder, elbow, wrist and hand. J. Biomech. 38: 981-992
51. Yakovenko S., Gritsenko V., Prochazka A. 2004 Contribution of stretch reflexes to locomotor control: a modeling study. Biol. Cybern. 90, 146-155
52. Zajac F. E. 1989 Muscle and tendon-properties, models, scaling, and application to biomechanics and motor control. Crit. Rev. Biomed. Eng. 17: 359-411