Effects of the Lower Leg Bi-Articular Muscle in Jumping

Toru Oshima; Kiyoshi Toriumi; Tomohiko Fujikawa; Noboru Momose

doi:10.20965/jrm.2004.p0643

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JRM Vol.16 No.6 pp. 643-648

doi: 10.20965/jrm.2004.p0643

(2004)

Paper:

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Effects of the Lower Leg Bi-Articular Muscle in Jumping

Toru Oshima^, Kiyoshi Toriumi^, Tomohiko Fujikawa^,
and Noboru Momose^*

^*Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, Kurogawa 5180, Kosugi, Toyama 939-0398, Japan

^**Faculty of Education, Toyama University, Gofuku 3190, Toyama 939-8555, Japan

^***Department of Electronic Control Engineering, Toyama National College of Maritime Technology, Ebieneriya 1-2, Shinminato, Toyama 939-0293, Japan

Received:

July 7, 2004

Accepted:

September 28, 2004

Published:

December 20, 2004

Keywords:

lower leg, jumping, bi-articular muscle, jumping posture, ground reaction force

Abstract

We studied the effects of the lower leg bi-articular muscle in vertebrates in jumping. We used the proposed Jumping Jack model in computer simulation to analyze the impact of bi-articular muscle on postural jumping stability, energy transition caused by postural change, and the relationship between the ground reaction force and the center of gravity. We made a trial model and measured the jumping posture, ground reaction force, and jumping height to verify simulation results. The bi-articular muscle adjusted the ground reaction force so that the line of action invariably passed near the center of gravity and the conversion of elastic energy to rotational kinetic energy was suppressed, leading to a stable posture after takeoff.

Cite this article as:

T. Oshima, K. Toriumi, T. Fujikawa, and N. Momose, “Effects of the Lower Leg Bi-Articular Muscle in Jumping,” J. Robot. Mechatron., Vol.16 No.6, pp. 643-648, 2004.

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References

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[2] D. E. Koditscheck, and M. Buehler, “Analysis of a Simplified Hopping Robot,” The International J. Robotics Research, Vol.10, No.6, pp. 587-605, 1991.
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[4] R. T. M’Closkey, and J. W. Burdick, “Periodic Motions of a Hopping Robot with Vertical and Forward Motion,” The International J. of Robotics Research, Vol.12, No.3, pp. 197-218, 1993.
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[7] M. Kumamoto, and T. Oshima, “Control Properties Induced by the Existence of Antagonistic Pair of Bi-articular Muscles (Mechanical Engineering Model Analyses),” Human Movement Science, Vol.13, No.5, pp. 611-634, 1994.
[8] T. Oshima, T. Fujikawa, and M. Kumamoto, “Coordination Control of Arm using Antagonistic Actuators,” J. Robotics and Mechatronics, Vol.14, No.3, pp. 270-277, 2002.
[9] A. J. van Soest, A. L. Schwab, M. F. Bobbert, and G. J. van Ingen Schenau, “The Influence of the Biarticularity of the Gastrocnemius Muscle on Vertical-jumping Achievement,” J. Biomechanics, Vol.26, No.1, pp. 1-8, 1993.
[10] M. G. Pandy, F. E. Zajac, E. U. Sim, and W. S. Levine, “An Optimal Control Model for Maximum-height Human Jumping,” J. Biomechanics, Vol.23, No.12, pp. 1185-1198, 1990.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. H. Raibert, “Legged Robot that Balance,” The MIT Press, 1986.

[2] [2] D. E. Koditscheck, and M. Buehler, “Analysis of a Simplified Hopping Robot,” The International J. Robotics Research, Vol.10, No.6, pp. 587-605, 1991.

[3] [3] A. F. Vakakis, J. W. Burdick, and T. K. Caughey, “An Interesting Strange Attractor in the Dynamics of a Hopping robot,” The International J. Robotics Research, Vol.10, No.6, pp. 606-618, 1991.

[4] [4] R. T. M’Closkey, and J. W. Burdick, “Periodic Motions of a Hopping Robot with Vertical and Forward Motion,” The International J. of Robotics Research, Vol.12, No.3, pp. 197-218, 1993.

[5] [5] C. Francois, and C. Samson, “A New Approach to the Control of the Planter One-legged Hopper,” The International J. of Robotics Research, Vol.17, No.11, pp. 1150-1166, 1998.

[6] [6] S. Hyon, S. Kamijo, and T. Mita, “ ‘Kenken’ – A Biologically Inspired One-Legged Running Robot,” J. Robot Society of Japan, Vol.20, No.4, pp. 103-112, 2002.

[7] [7] M. Kumamoto, and T. Oshima, “Control Properties Induced by the Existence of Antagonistic Pair of Bi-articular Muscles (Mechanical Engineering Model Analyses),” Human Movement Science, Vol.13, No.5, pp. 611-634, 1994.

[8] [8] T. Oshima, T. Fujikawa, and M. Kumamoto, “Coordination Control of Arm using Antagonistic Actuators,” J. Robotics and Mechatronics, Vol.14, No.3, pp. 270-277, 2002.

[9] [9] A. J. van Soest, A. L. Schwab, M. F. Bobbert, and G. J. van Ingen Schenau, “The Influence of the Biarticularity of the Gastrocnemius Muscle on Vertical-jumping Achievement,” J. Biomechanics, Vol.26, No.1, pp. 1-8, 1993.

[10] [10] M. G. Pandy, F. E. Zajac, E. U. Sim, and W. S. Levine, “An Optimal Control Model for Maximum-height Human Jumping,” J. Biomechanics, Vol.23, No.12, pp. 1185-1198, 1990.

[11] [11] M. F. Bobbert, E. Hoek, G. J. van Ingen Schenau, A. J. Sargeant, and A. W. Schreurs, “A Model to Demonstrate the Power Transporting Role of Biarticular Muscles,” J. Physiology, Vol.387, p. 24, 1987.

Effects of the Lower Leg Bi-Articular Muscle in Jumping

Toru Oshima*, Kiyoshi Toriumi**, Tomohiko Fujikawa***, and Noboru Momose*

Toru Oshima^, Kiyoshi Toriumi^, Tomohiko Fujikawa^,
and Noboru Momose^*