Fundamentals of Neuromechanics / / by Francisco J. Valero-Cuevas

• Autore: Valero-Cuevas Francisco J
• Pubblicazione: London : , : Springer London : , : Imprint : Springer, , 2016
• Edizione: 1st ed. 2016.
• Descrizione fisica: 1 online resource (XXIV, 194 p. 65 illus.)
• Disciplina: 571.43
• Soggetto topico: Control engineering; Robotics; Mechatronics; Computer simulation; Neurosciences; Bioinformatics ; Computational biology ; Algebraic geometry; Evolutionary biology; Control, Robotics, Mechatronics; Simulation and Modeling; Computer Appl. in Life Sciences; Algebraic Geometry; Evolutionary Biology
• Note generali: Bibliographic Level Mode of Issuance: Monograph
• Nota di contenuto: Intro -- Foreword by An -- Foreword by Biewener -- Foreword by Giszter -- Foreword by Milton -- Preface -- Acknowledgments -- Contents -- 1 Introduction -- Part IFundamentals -- 2 Limb Kinematics -- 2.1 What Is a Limb? -- 2.2 Forward Kinematic Analysis of Limbs -- 2.3 The Forward Kinematic Model -- 2.4 Application of the Forward Kinematic Model to a Simple Planar Limb -- 2.5 Using the Forward Kinematic Model to Obtain Endpoint Velocities -- 2.6 General Case of the Jacobian in the Context of Screws, Twists, and Wrenches -- 2.7 Using the Jacobian of a Planar System to Find Endpoint Velocities -- 2.8 Exercises and Computer Code -- References -- 3 Limb Mechanics -- 3.1 Derivation of the Relationship Between Static Endpoint Forces and Joint Torques -- 3.2 Symbolic Example Finding All Permutations of J for a Planar 2 DOF Limb -- 3.3 Numerical Example Finding All Permutations of J for a Planar 2 DOF Limb -- 3.4 Relationship Between JT and the Equations of Static Equilibrium -- 3.5 Importance of Understanding the Kinematic Degrees of Freedom of a Limb -- 3.6 Analysis of a Planar 3 DOF Limb -- 3.7 Additional Comments on the Jacobian and Its Properties -- 3.8 Exercises and Computer Code -- References -- 4 Tendon-Driven Limbs -- 4.1 Tendon Actuation -- 4.2 Tendon Routing, Skeletal Geometry, and Moment Arms -- 4.3 Tendon Excursion -- 4.4 Two or More Tendons Acting on a Joint: Under- and Overdetermined Systems -- 4.5 The Moment Arm Matrix for Torque Production -- 4.6 The Moment Arm Matrix for Tendon Excursions -- 4.7 Implications to the Neural Control of Tendon-Driven Limbs -- 4.8 Exercises and Computer Code -- References -- Part IIIntroduction to the Neural Controlof Tendon-Driven Limbs -- 5 The Neural Control of Joint Torques in Tendon-Driven Limbs Is Underdetermined -- 5.1 Muscle Activation and Redundancy of Neural Control. ; 5.2 Linear Programming Applied to Tendon-Driven Limbs -- 5.2.1 Canonical Formulation of the Linear Programming Problem -- 5.2.2 A Classical Example of Linear Programming: The Diet Problem -- 5.3 Linear Programming Applied to Neuromuscular Problems -- 5.4 Geometric Interpretation of Linear Programming -- 5.5 Exercises and Computer Code -- References -- 6 The Neural Control of Musculotendon Lengths and Excursions Is Overdetermined -- 6.1 Forward and Inverse Kinematics of a Limb -- 6.2 Forward Kinematics of a 5 DOF Arm -- 6.3 Inverse Kinematics of a Limb -- 6.3.1 Closed Form Analytical Approach -- 6.3.2 Numerical Approach -- 6.3.3 Experimental Approach -- 6.4 The Overdetermined Problem of Tendon Excursions -- 6.4.1 Tendon Excursion Versus Musculotendon Excursion -- 6.4.2 Muscle Mechanics -- 6.4.3 Reflex Mechanisms Interact with Limb Kinematics, Mechanics, and Muscle Properties -- 6.5 Example of a Disc Throw Motion with a 17-Muscle, 5 DOF Arm -- 6.6 Implications to Neural Control and Muscle Redundancy -- 6.7 Exercises and Computer Code -- References -- Part IIIFeasible Actions of Tendon-Driven Limbs -- 7 Feasible Neural Commands and Feasible Mechanical Outputs -- 7.1 Mapping from Neural Commands to Mechanical Outputs -- 7.2 Geometric Interpretation of Feasibility -- 7.3 Introduction to Feasible Sets -- 7.4 Calculating Feasible Sets for Tasks with No Functional Constraints -- 7.5 Size and Shape of Feasible Sets -- 7.6 Anatomy of a Convex Polygon, Polyhedron, and Polytope -- 7.7 Exercises and Computer Code -- References -- 8 Feasible Neural Commands with Mechanical Constraints -- 8.1 Finding Unique Optimal Solutions Versus Finding Families of Valid Solutions -- 8.2 Calculating Feasible Sets for Tasks with Functional Constraints -- 8.3 Vertex Enumeration in Practice -- 8.4 A Definition of Versatility. ; 8.5 How Many Muscles Should Limbs Have to be Versatile? -- 8.6 Limb Versatility Versus Muscle Redundancy -- 8.7 Exercises and Computer Code -- References -- Part IVNeuromechanics as a Scientific Tool -- 9 The Nature and Structure of Feasible Sets -- 9.1 Bounding Box Description of Feasible Sets -- 9.2 Principal Components Analysis Description of Feasible Sets -- 9.3 Synergy-Based Description of Feasible Sets -- 9.4 Vectormap Description of Feasible Sets -- 9.5 Probabilistic Neural Control -- 9.6 Exercises and Computer Code -- References -- 10 Implications -- 10.1 Muscle Redundancy -- 10.2 What This Book Did Not Cover -- 10.3 What's in a Name? -- 10.4 Motion, Force, and Impedance -- 10.5 Agonist Versus Antagonist -- 10.6 Co-contraction -- 10.7 Exercises and Computer Code -- References -- Appendix APrimer on Linear Algebraand the Kinematics of Rigid Bodies -- Index.
• Sommario/riassunto: This book provides a conceptual and computational framework to study how the nervous system exploits the anatomical properties of limbs to produce mechanical function. The study of the neural control of limbs has historically emphasized the use of optimization to find solutions to the muscle redundancy problem. That is, how does the nervous system select a specific muscle coordination pattern when the many muscles of a limb allow for multiple solutions? I revisit this problem from the emerging perspective of neuromechanics that emphasizes finding and implementing families of feasible solutions, instead of a single and unique optimal solution. Those families of feasible solutions emerge naturally from the interactions among the feasible neural commands, anatomy of the limb, and constraints of the task. Such alternative perspective to the neural control of limb function is not only biologically plausible, but sheds light on the most central tenets and debates in the fields of neural control, robotics, rehabilitation, and brain-body co-evolutionary adaptations. This perspective developed from courses I taught to engineers and life scientists at Cornell University and the University of Southern California, and is made possible by combining fundamental concepts from mechanics, anatomy, mathematics, robotics and neuroscience with advances in the field of computational geometry. Fundamentals of Neuromechanics is intended for neuroscientists, roboticists, engineers, physicians, evolutionary biologists, athletes, and physical and occupational therapists seeking to advance their understanding of neuromechanics. Therefore, the tone is decidedly pedagogical, engaging, integrative, and practical to make it accessible to people coming from a broad spectrum of disciplines. I attempt to tread the line between making the mathematical exposition accessible to life scientists, and convey the wonder and complexity of neuroscience to engineers and computational scientists. While no one approach can hope to definitively resolve the important questions in these related fields, I hope to provide you with the fundamental background and tools to allow you to contribute to the emerging field of neuromechanics.
• Titolo autorizzato: Fundamentals of Neuromechanics
• ISBN: 1-4471-6747-3
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910254216803321
• Lo trovi qui: Univ. Federico II
• Serie: Biosystems & Biorobotics, . 2195-3562 ; ; 8