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[Th013] Citation: P.H. Marbot, 'Ia Response of a Mechanical Spindle Replica,'
Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, March 1995.
Abstract
The research presented here describes and tests a prototype active
measurement system which is designed to function as closely as possible
to the human muscle spindle. The mechanical spindle will fulfill the
nee dof the Anthroform Arm Project for a position sensor and will be
placed in paralell with McKibben Artificial Muscle actuators. The goal
is to make a functional equivalent to the human spindle. The
mechanical spindel is comprised of a mechancial device and software
devices which complement the mechanical device where and when it is
insufficient to model the real spindle. The device consists of a
non-linear loadcell, offset actuator, and electronics. The dimensions
are 1cm x 1cm x 8cm and the response of the device is a good
representation of actual spindle responses as defined by the leading
published mathematical models of muscle spindles.
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Updated: Tue Jul 15 23:54:51 2008
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