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[067] Citation: P.H. Marbot, B. Hannaford, 'The Mechanical Spindle: a Replica of the Mammalian Muscle Spindle,'
Proceedings, IEEE Conference on Engineering in Medicine and Biology, San Diego, CA, October, 1993.
Abstract
The goal of the recently initiated anthroform arm project is to understand the
manipulation capabilities of the human arm through the development of a
dynamically accurate replica arm. One key element is the mammalian muscle
spindle responsible for position and velocity feedback. This paper describes
the important spindle features that we are attempting to copy, as well as the
mechanical and software aspects of our first prototype. The model and prototype
include active modulation of spindles' non-linear response which models the
gamma efference. The sensor that was developed can also be used for other
applications, and shows unique adaptive properties.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:48 2008
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