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1 Computer Assisted Methods in Engineering and Science

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Bond Graph Modeling of Muscle-Tendon Actuationof a Phalange

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Uppal S. K. , Vaz A.

tom Vol. 29, no. 3

197--227

In musculoskeletal actuation systems, it is essential to understand and analyze the exten-sion and force patterns generated in the muscle-tendon units (MTUs) responsible for themotion of a phalange. This work proposes a systematically developed bond graph modelfor the muscle-tendon actuation system for the desired motion of the phalange of thehand. The phalange is represented by a cylindrical rigid body, actuated by four MTUsattached to it symmetrically. The MTU is based on Hill’s muscle model. The role of thecentral nervous system (CNS) that commands desired motions to the phalange is emulatedthrough a virtual domain in the model. The virtual domain decides the activation patternof MTUs. Accordingly, the MTUs apply forces on the phalange to achieve the desiredmotion. Simulation results for important motions such as flexion-extension, adduction-abduction, and circumduction show that the model effectively captures the dynamics ofthe musculoskeletal actuation system.