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Muscle Coordination and Action01:24

Muscle Coordination and Action

Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement.

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Updated: Jul 7, 2026

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1
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蛇机器人以基于形状记忆合金的运动为基础 弹形执行器

Ricardo Cortez1, Marco Antonio Sandoval-Chileño2, Norma Lozada-Castillo1

  • 1Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico.

Biomimetics (Basel, Switzerland)
|March 27, 2024
PubMed
概括

这项研究介绍了一种由形状记忆合金 (SMA) 驱动的新型蛇形机器人. 这个机器人,就是机器人.

关键词:
超多余的机器人机器人技术形状记忆合金的合金.蛇机器人的蛇机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 材料科学 材料科学 材料科学
  • 机械工程 机械工程

背景情况:

  • 像蛇一样的机器人提供了独特的运动能力.
  • 形状记忆合金 (SMA) 提供了紧而强大的执行.
  • 模块化设计提高了机器人的维护能力和适应性.

研究的目的:

  • 设计和评估使用SMA执行器的原型蛇形机器人.
  • 开发一个模块化机器人系统,采用基于SMA的激进-对抗机制.
  • 为了创建一个数学模型来控制机器人的运动.

主要方法:

  • 使用卡丹接头的模块化链路构造.
  • SMA弹形执行器用于激动剂-对抗剂机制.
  • 为独立的联合控制者开发数学模型.
  • 实施用于步态跟踪的中央模式生成器.

主要成果:

  • 使用SMA弹成功启动和运动生成.
  • 对蛇步道的联合可行性和形状变化的验证.
  • 使用SMA执行器的功能机器人系统的演示.

结论:

  • 拟议的SMA驱动的蛇机器人可用于生成蛇的步态.
  • 模块化设计允许轻松更换SMA执行器.
  • 进一步的研究应解决改善性能所发现的缺点.