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[149] Citation: Abstract
A biorobotic model of the mammalian muscle spindle Ia response was
implemented in precision hardware. We derived engineering
specifications from displacement, receptor potential and Ia data in
the muscle spindle literature, allowing reproduction of muscle spindle
behavior directly in the robot s hardware; a linear actuator
replicated intrafusal contractile behavior, a cantilever-based
transducer reproduced sensory membrane depolarization, and a
voltage-controlled oscillator encoded strain into a frequency signal.
Aspects of muscle spindle behavior not intrinsic to the physical
design were added in control software using an adaptation of Schaafsma
s mathematical model. We tuned the response to biological ramp and
hold metrics including peak, mean, dynamic index, time domain response
and sensory region displacement. The model was validated against
biological Ia response to ramp and hold, sinusoidal and fusimotor
inputs. The response with dynamic or static gamma motorneuron input
was excellent across all studies. The passive spindle response matched
well in 5 of the 9 measures. Potential applications include basic
science muscle spindle research and applied research in prosthetics
and robotics.
Key Terms: Biomimetics, Mechanoreceptor, Ia, Gamma
Motorneuron, Dynamic Index, Fusimotor
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Updated: Tue Jul 15 23:54:51 2008
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