In Response of a Mechanical Spindle Replica

Marbot, P.H. (1995) In Response of a Mechanical Spindle Replica. Doctoral thesis, University of Washington.

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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.

Item Type: Thesis (Doctoral)
Subjects: Z Other
Divisions: Department of Electrical Engineering
Depositing User: Jeffrey Herron
Date Deposited: 07 Jul 2015 21:24
Last Modified: 07 Jul 2015 21:24
URI: http://brl.ee.washington.edu/eprints/id/eprint/73

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