Analysis of muscle length effect on an S type motor-unit fractional multi-model

Muscle models are useful in bio-inspired robotic, because they allow to reproduce accurately natural motion. When they are used for robotic issue, they need to be compact and embeddable. The non-integer model order has the advantage to ensure a parametrical parsimony that permits to implant it easily on an embedded system. Thus, a fractional multi-model of muscle was identified and presented in later paper. This model is able to predict the response of a motor unit to an electrical stimulation, considering isometric contractions (that is to say, muscle length is constant). There are three different physiological types of motor unit (FR, FF, and S). The aim of this work is to study muscle length impact on the multi-model and the limitations of the linear multi-model. Previous paper was published using FR type motor unit. In this paper, the results of the study using S type motor unit are presented.