SIMULATION LAB #4: Dynamic Modeling and Simulation of Muscle-Tendon Actuators

The force producing properties of muscle are complex, highly nonlinear and can have substantialeffects on movement (See McMahon 1984 for review). For simplicity, lumped-parameterdimensionless muscle models, capable of representing a range of muscles with differentarchitectures, are commonly used in the dynamic simulation of movement (Zajac, 1989). In thistutorial, we will review the differential equations that describe muscle activation and muscle-tendon contraction dynamics when using a Hill-type muscle model. You will useSIMM/Pipeline routines to implement muscle-tendon models and conduct some simulations toinvestigate how various model parameters can affect the dynamic response of the actuators. Thelab will conclude with a Virtual Muscle Tug-of-War in which you will design an optimal muscleand compete directly against others in the class– may the best muscle win.