多参量的骨骼肌等长收缩初步研究

骨骼肌的力学特性总是和它的结构形态相关的,表面肌电信号是骨骼肌的电生理学特性的表现,但它不能表征骨骼肌的结构形态特征。把超声扫描骨骼肌得到的有关骨骼肌结构的空间形态变化信息定义为“声肌图(sono-myography)”,简写成SMG。文章研究了肱二头肌等长收缩活动时的肌肉厚度变化率SMG信号和表面肌电信号、力矩之间的关系,根据实验结果归纳给出了经验公式,它对于了解骨骼肌功能、对骨骼肌建模以及对康复设备的研发等有着直接的作用和意义。     

气动人工肌肉特性实验与数学模型研究

为了提高气动人工肌肉数学模型精度,增强其实用性,对气动人工肌肉的各工作特性参数进行实验研究,构建描述气动人工肌肉特性的实验数学模型．建立气动人工肌肉静特性实验系统,对气动人工肌肉的各工作特性指标进行测量．通过最小二乘法,将充气压力、负载以及收缩比用系数矩阵有机结合起来,建立气动人工肌肉的实验数学模型．对于某一气动人工肌肉来说,所构建的工作特性模型具有普遍性,因此,给出的结论对以气动人工肌肉为驱动元件的控制系统设计及实现精确控制具有重要意义．     

Artificial Muscles: Mechanisms,Applications, and Challenges

The area of artificial muscle is a highly interdisciplinary field of research that has evolved rapidly in the last 30 years. Recent advances in nanomaterial fabrication and characterization, specifically carbon nanotubes and nanowires, have had major contributions in the development of artificial muscles. However, what can artificial muscles really do for humans? This question is considered here by first examining nature's solutions to this design problem and then discussing the structure, actuation mechanism, applications, and limitations of recently developed artificial muscles, including highly oriented semicrystalline polymer fibers; nanocomposite actuators; twisted nanofiber yarns; thermally activated shape‐memory alloys; ionic‐polymer/metal composites; dielectric‐elastomer actuators; conducting polymers; stimuli‐responsive gels; piezoelectric, electrostrictive, magnetostrictive, and photostrictive actuators; photoexcited actuators; electrostatic actuators; and pneumatic actuators.     

Fast nastic motion of plants and bioinspired structures

The capability to sense and respond to external mechanical stimuli at various timescales is essential to many physiological aspects in plants, including self-protection, intake of nutrients and reproduction. Remarkably, some plants have evolved the ability to react to mechanical stimuli within a few seconds despite a lack of muscles and nerves. The fast movements of plants in response to mechanical stimuli have long captured the curiosity of scientists and engineers, but the mechanisms behind these rapid thigmonastic movements are still not understood completely. In this article, we provide an overview of such thigmonastic movements in several representative plants, including Dionaea, Utricularia, Aldrovanda, Drosera and Mimosa. In addition, we review a series of studies that present biomimetic structures inspired by fast-moving plants. We hope that this article will shed light on the current status of research on the fast movements of plants and bioinspired structures and also promote interdisciplinary studies on both the fundamental mechanisms of plants'' fast movements and biomimetic structures for engineering applications, such as artificial muscles, multi-stable structures and bioinspired robots.     

A new approach for the validation of skeletal muscle modelling using MRI data

Active and passive experiments on skeletal muscles are in general arranged on isolated muscles or by consideration of the whole muscle packages, such as the arm or the leg. Both methods exhibit advantages and disadvantages. By applying experiments on isolated muscles it turns out that no information about the surrounding tissues are considered what leads to insufficient specifications of the isolated muscle. Especially, the muscle shape and the fibre directions of an embedded muscle are completely different to that of the same isolated muscle. An explicit advantage, in contrast, is the possibility to study the mechanical characteristics in an unique, isolated way. On the other hand, by applying experiments on muscle packages the aforementioned pros and cons reverse. In such situation, the whole surrounding tissue is considered in the mechanical characteristics of the muscle which are much more difficult to identify. However, an embedded muscle reflects a much more realistic situation as in isolated condition. Thus, in the proposed work to our knowledge, we, for the first time, suggest a technique that allows to study characteristics of single skeletal muscles inside a muscle package without any computation of the tissue around the muscle of interest. In doing so, we use magnetic resonance imaging data of an upper arm during contraction. By applying a three-dimensional continuum constitutive muscle model we are able to study the biceps brachii inside the upper arm and validate the modelling approach by optical experiments.     

A constitutive model for muscle properties in a soft-bodied arthropod

In this paper, we examine the mechanical properties of muscles in a soft-bodied arthropod under both passive and stimulated conditions. In particular, we examine the ventral interior lateral muscle of the tobacco hornworm caterpillar, Manduca sexta, and show that its response is qualitatively similar to the behaviour of particle-reinforced rubber. Both materials are capable of large nonlinear elastic deformations, show a hysteretic behaviour and display stress softening during the first few cycles of repeated loading. The Manduca muscle can therefore be considered as different elastic materials during loading and unloading and is best described using the theory of pseudo-elasticity. We summarize the basic equations for transversely isotropic pseudo-elastic materials, first for general deformations and then for the appropriate uniaxial specialization. The constitutive relation proposed is in good agreement with the experimental data for both the passive and the stimulated conditions.     

Electrochemically Powered,Energy‐Conserving Carbon Nanotube Artificial Muscles

While artificial muscle yarns and fibers are potentially important for many applications, the combination of large strokes, high gravimetric work capacities, short cycle times, and high efficiencies are not realized for these fibers. This paper demonstrates here electrochemically powered carbon nanotube yarn muscles that provide tensile contraction as high as 16.5%, which is 12.7 times higher than previously obtained. These electrochemical muscles can deliver a contractile energy conversion efficiency of 5.4%, which is 4.1 times higher than reported for any organic‐material‐based artificial muscle. All‐solid‐state parallel muscles and braided muscles, which do not require a liquid electrolyte, provide tensile contractions of 11.6% and 5%, respectively. These artificial muscles might eventually be deployed for a host of applications, from robotics to perhaps even implantable medical devices.     

Modelling of muscle behaviour by the finite element method using Hill's three-element model

We present a numerical algorithm for the determination of muscle response by the finite element method. Hill's three-element model is used as a basis for our analysis. The model consists of one linear elastic element, coupled in parallel with one non-linear elastic element, and one non-linear contractile element connected in series. An activation function is defined for the model in order to describe a time-dependent character of the contractile element with respect to stimulation. Complex mechanical response of muscle, accounting for non-linear force–displacement relation and change of geometrical shape, is possible by the finite element method. In an incremental-iterative scheme of calculation of equilibrium configurations of a muscle, the key step is determination of stresses corresponding to a strain increment. We present here the stress calculation for Hill's model which is reduced to the solution of one non-linear equation with respect to the stretch increment of the serial elastic element. The muscle fibers can be arbitrarily oriented in space and we give a corresponding computational procedure of calculation of nodal forces and stiffness of finite elements. The proposed computational scheme is built in our FE package PAK, so that real muscles of complex three-dimensional shapes can be modelled. In numerical examples we illustrate the main characteristic of the developed numerical model and the possibilities of solution of real problems in muscle functioning. © 1998 John Wiley & Sons, Ltd.     

Shape Memory Alloy (SMA)‐Based Microscale Actuators with 60% Deformation Rate and 1.6 kHz Actuation Speed

Shape memory alloys (SMAs) are widely utilized as an actuation source in microscale devices, since they have a simple actuation mechanism and high‐power density. However, they have limitations in terms of strain range and actuation speed. High‐speed microscale SMA actuators are developed having diamond‐shaped frame structures with a diameter of 25 µm. These structures allow for a large elongation range compared with bulk SMA materials, with the aid of spring‐like behavior under tensile deformation. These actuators are validated in terms of their applicability as an artificial muscle in microscale by investigating their behavior under mechanical deformation and changes in thermal conditions. The shape memory effect is triggered by delivering thermal energy with a laser. The fast heating and cooling phenomenon caused by the scale effect allows high‐speed actuation up to 1600 Hz. It is expected that the proposed actuators will contribute to the development of soft robots and biomedical devices.     

Rapid identification of muscle activation profiles via optimization and smooth profile patches

The identification of muscle activation profiles for general motion tasks of the musculoskeletal system is an important and still open problem in biomechanics. In the context of simulation of surgical interventions (e.g. tendon transfer [4] or the shortening/lengthening of specific muscles that significantly influence a pathological motion [5]) the knowledge of the contribution of a single muscle to joint moments during motion can yield information that enables the physician to directly assess a therapy before applying it to a patient. Besides EMG‐driven models, which rely on measured muscles activity and static optimization ([6] and [7], respectively), current methodology consists of dynamic optimization where the amplitude and the time history of the activation function is sought by forward dynamic simulations. In this setting, function parameterizations such as discretization through sampling values, rectangular and ramp functions, as well as splines have been investigated. However, typical optimization runs display prohibitively long computation times, which make them unsuitable for on‐line approximation of dynamical motions, such as required for example for patient‐specific therapy. The present paper proposes a new method for parameterizing muscle activation profiles employing smooth (C^Ë) functions. We analyze the method in comparison to an input sampling approach for a flexion/extension two‐joint subsystem of hip and knee, comprising two pairs of antagonistic muscles. The results show that, by using smooth base functions for muscle activation, the number of design variables as well as the required CPU time can be reduced without loss of quality of the ensuing simulations. The method is currently under investigation and is planned to be applied to a full‐muscle system of human gait in the near future.     

Bio-Inspired Soft-Rigid Hybrid Smart Artificial Muscle Based on Liquid Crystal Elastomer and Helical Metal Wire

Artificial muscles are of significant value in robotic applications. Rigid artificial muscles possess a strong load-bearing capacity, while their deformation is small; soft artificial muscles can be shifted to a large degree; however, their load-bearing capacity is weak. Furthermore, artificial muscles are generally controlled in an open loop due to a lack of deformation-related feedback. Human arms include muscles, bones, and nerves, which ingeniously coordinate the actuation, load-bearing, and sensory systems. Inspired by this, a soft-rigid hybrid smart artificial muscle (SRH-SAM) based on liquid crystal elastomer (LCE) and helical metal wire is proposed. The thermotropic responsiveness of the LCE is adopted for large reversible deformation, and the helical metal wire is used to fulfill high bearing capacity and electric heating function requirements. During actuation, the helical metal wire's resistance changes with the LCE's electrothermal deformation, thereby achieving deformation-sensing characteristics. Based on the proposed SRH-SAM, a reconfigurable blazed grating plane and the effective switch between attachment and detachment in bionic dry adhesion are accomplished. The SRH-SAM opens a new avenue for designing smart artificial muscles and can promote the development of artificial muscle-based devices.     

Muscle fibre recruitment can respond to the mechanics of the muscle contraction.

This study investigates the motor unit recruitment patterns between and within muscles of the triceps surae during cycling on a stationary ergometer at a range of pedal speeds and resistances. Muscle activity was measured from the soleus (SOL), medial gastrocnemius (MG) and lateral gastrocnemius (LG) using surface electromyography (EMG) and quantified using wavelet and principal component analysis. Muscle fascicle strain rates were quantified using ultrasonography, and the muscle-tendon unit lengths were calculated from the segmental kinematics. The EMG intensities showed that the body uses the SOL relatively more for the higher-force, lower-velocity contractions than the MG and LG. The EMG spectra showed a shift to higher frequencies at faster muscle fascicle strain rates for MG: these shifts were independent of the level of muscle activity, the locomotor load and the muscle fascicle strain. These results indicated that a selective recruitment of the faster motor units occurred within the MG muscle in response to the increasing muscle fascicle strain rates. This preferential recruitment of the faster fibres for the faster tasks indicates that in some circumstances motor unit recruitment during locomotion can match the contractile properties of the muscle fibres to the mechanical demands of the contraction.     

The characterization of decellularized human skeletal muscle as a blueprint for mimetic scaffolds

The use of decellularized skeletal muscle (DSM) as a cell substrate and scaffold for the repair of volumetric muscle loss injuries has shown therapeutic promise. The performance of DSM materials motivated our interest in exploring the chemical and physical properties of this promising material. We suggest that these properties could serve as a blueprint for the development of next generation engineered materials with DSM mimetic properties. In this study, whole human lower limb rectus femoris (n = 10) and upper limb supraspinatus muscle samples (n = 10) were collected from both male and female tissue donors. Skeletal muscle samples were decellularized and nine property values, capturing key compositional, architectural, and mechanical properties, were measured and statistically analyzed. Mean values for each property were determined across muscle types and sexes. Additionally, the influence of muscle type (upper vs lower limb) and donor sex (male vs female) on each of the DSM material properties was examined. The data suggests that DSM materials prepared from lower limb rectus femoris samples have an increased modulus and contain a higher collagen content then upper limb supraspinatus muscles. Specifically, lower limb rectus femoris DSM material modulus and collagen content was approximately twice that of lower limb supraspinatus DSM samples. While muscle type did show some influence on material properties, we did not find significant trends related to sex. The material properties reported herein may be used as a blueprint for the data-driven design of next generation engineered scaffolds with muscle mimetic properties, as well as inputs for computational and physical models of skeletal muscle.     

Biomimetic six-axis robots replicate human cardiac papillary muscle motion: pioneering the next generation of biomechanical heart simulator technology

Papillary muscles serve as attachment points for chordae tendineae which anchor and position mitral valve leaflets for proper coaptation. As the ventricle contracts, the papillary muscles translate and rotate, impacting chordae and leaflet kinematics; this motion can be significantly affected in a diseased heart. In ex vivo heart simulation, an explanted valve is subjected to physiologic conditions and can be adapted to mimic a disease state, thus providing a valuable tool to quantitatively analyse biomechanics and optimize surgical valve repair. However, without the inclusion of papillary muscle motion, current simulators are limited in their ability to accurately replicate cardiac biomechanics. We developed and implemented image-guided papillary muscle (IPM) robots to mimic the precise motion of papillary muscles. The IPM robotic system was designed with six degrees of freedom to fully capture the native motion. Mathematical analysis was used to avoid singularity conditions, and a supercomputing cluster enabled the calculation of the system''s reachable workspace. The IPM robots were implemented in our heart simulator with motion prescribed by high-resolution human computed tomography images, revealing that papillary muscle motion significantly impacts the chordae force profile. Our IPM robotic system represents a significant advancement for ex vivo simulation, enabling more reliable cardiac simulations and repair optimizations.     

握力对前臂肌肉活动水平的影响

目的：评价不同强度的握力与前臂肌肉活动水平的相关性。方法：8名健康被试者参加实验,分别完成了最大自主收缩力80%MVC,60%MVC,40%MVC及20%MVC,实验记录了指浅屈肌和腕长伸肌的表面肌电信号,采用均方根的方法分析并提取表面肌电信号的幅度特征参数;运用统计分析方法比较握力水平与指浅屈肌、腕长伸肌的表面肌电的相关性,并且使用线性回归分析握力水平与相对特征值之间是否存在线性关系。结果表明指浅屈肌和腕长伸肌的表面肌电信号幅度随握力强度的增加而增加。握力水平与前臂肌肉表面肌电信号幅值存在正相关性,屈肌和伸肌对握力都有贡献,这种特征对于肌电假肢及其他应用的研究有一定帮助。     

Caecilian jaw-closing mechanics: integrating two muscle systems

Caecilians (Lissamphibia: Gymnophiona) are unique among vertebrates in having two sets of jaw-closing muscles, one on either side of the jaw joint. Using data from high-resolution X-ray radiation computed tomography scans, we modelled the effect of these two muscle groups (mm. levatores mandibulae and m. interhyoideus posterior) on bite force over a range of gape angles, employing a simplified lever arm mechanism that takes into account muscle cross-sectional area and fibre angle. Measurements of lever arm lengths, muscle fibre orientations and physiological cross-sectional area of cranial muscles were available from three caecilian species: Ichthyophis cf. kohtaoensis; Siphonops annulatus; and Typhlonectes natans. The maximal gape of caecilians is restricted by a critical gape angle above which the mm. levatores mandibulae will open the jaw and destabilize the mandibular joint. The presence of destabilizing forces in the caecilian jaw mechanism may be compensated for by a mandibular joint in that the fossa is wrapped around the condyle to resist dislocation. The caecilian skull is streptostylic; the quadrate–squamosal complex moves with respect to the rest of the skull. This increases the leverage of the jaw-closing muscles. We also demonstrate that the unusual jaw joint requires streptostyly because there is a dorsolateral movement of the quadrate–squamosal complex when the jaw closes. The combination of the two jaw-closing systems results in high bite forces over a wide range of gape angles, an important advantage for generalist feeders such as caecilians. The relative sizes and leverage mechanics of the two closing systems allow one to exert more force when the other has a poor mechanical advantage. This effect is seen in all three species we examined. In the aquatic T. natans, with its less well-roofed skull, there is a larger contribution of the mm. levatores mandibulae to total bite force than in the terrestrial I. cf. kohtaoensis and S. annulatus.     

Stress distributions in single shape memory alloy fiber composites

Shape memory alloy (SMA) in the form of wires or short fibers can be embedded into host materials to form SMA composites that can satisfy a wide variety of engineering requirements. The recovery action of SMA inclusions induced by elevated temperature can change the modal properties and hence the mechanical responses of entire composite structures. Due to the weak interface strength between the SMA wire and the matrix, interface debonding often occurs when the SMA composites act through an external force or through actuation temperature or combination of the two. Thus the function of SMAs inside the matrix cannot be fully utilized. To improve the properties and hence the functionality of SMA composites it is therefore very important to understand the stress transfers between SMA fibers and matrix and the distributions of internal stresses in the SMA composite. In this paper, a theoretical model incorporating Brinson’s constitutive law of SMA for the prediction of internal stresses is successfully developed for SMA composites, based on the principle of minimum complementary energy. A typical two-cylinder model consisting of a single SMA fiber surrounded by epoxy matrix is employed to analyze the stress distributions in the SMA fiber, the matrix, and at the interface, with important contributions of the thermo-mechanical effect and the shape memory effect. Assumed stress functions that satisfy equilibrium equations in the fiber and matrix respectively are utilized, as well as the principle of minimum complementary energy, to analyze the internal stress distributions during fiber pull-out and the thermal loading process. The entire range of axisymmetric states of stresses in the SMA fiber and matrix are developed. The results indicate substantial variation in stress distribution profiles for different activation and loading scenarios.     

Self-assembled microdevices driven by muscle

Current procedures for manual extraction of mature muscle tissue in micromechanical structures are time consuming and can damage the living components. To overcome these limitations, we have devised a new system for assembling muscle-powered microdevices based on judicious manipulations of materials phases and interfaces. In this system, individual cells grow and self-assemble into muscle bundles that are integrated with micromechanical structures and can be controllably released to enable free movement. Having realized such an assembly with cardiomyocytes we demonstrate two potential applications: a force transducer able to characterize in situ the mechanical properties of muscle and a self-assembled hybrid (biotic/abiotic) microdevice that moves as a consequence of collective cooperative contraction of muscle bundles. Because the fabrication of silicon microdevices is independent of the subsequent assembly of muscle cells, this system is highly versatile and may lead to the integration of cells and tissues with a variety of other microstructures.     

Predicting muscle activation patterns from motion and anatomy: modelling the skull of Sphenodon (Diapsida: Rhynchocephalia)

The relationship between skull shape and the forces generated during feeding is currently under widespread scrutiny and increasingly involves the use of computer simulations such as finite element analysis. The computer models used to represent skulls are often based on computed tomography data and thus are structurally accurate; however, correctly representing muscular loading during food reduction remains a major problem. Here, we present a novel approach for predicting the forces and activation patterns of muscles and muscle groups based on their known anatomical orientation (line of action). The work was carried out for the lizard-like reptile Sphenodon (Rhynchocephalia) using a sophisticated computer-based model and multi-body dynamics analysis. The model suggests that specific muscle groups control specific motions, and that during certain times in the bite cycle some muscles are highly active whereas others are inactive. The predictions of muscle activity closely correspond to data previously recorded from live Sphenodon using electromyography. Apparent exceptions can be explained by variations in food resistance, food size, food position and lower jaw motions. This approach shows considerable promise in advancing detailed functional models of food acquisition and reduction, and for use in other musculoskeletal systems where no experimental determination of muscle activity is possible, such as in rare, endangered or extinct species.     

The actuation of a biomimetic poly(vinyl alcohol)poly(acrylic acid) gel

Active polymer gels expand and contract in response to certain environmental stimuli, such as the application of an electric field or a change in the pH level of the surroundings. This ability to achieve large, reversible deformations with no external mechanical loading has generated much interest in the use of these gels as biomimetic actuators and "artificial muscles". In previous work, a thermodynamically consistent finite-elastic constitutive model has been developed to describe the mechanical and actuation behaviours of active polymer gels. The mechanical properties were characterized by a free-energy function, and the model uses an evolving internal variable to describe the actuation state. In this work, an evolution law for the internal variable is determined from free actuation experiments on a poly(vinyl alcohol)poly(acrylic acid) (PVAPAA) gel. The complete finite-elastic/evolution law constitutive model is then used to predict the response of the PVA-PAA gel to isotonic and isometric loading and actuation. The model is shown to give relatively good agreement with experimental results.