Experimental results presented in the literature suggest that humans use a position control strategy to indirectly control force rather than direct force control. Modeling the muscle-tendon system as a third-order linear model, we provide an explanation of why an indirect force control strategy is preferred. We analyzed a third-order muscle system and verified that it is required for a faithful representation of muscle-tendon mechanics, especially when investigating critical damping conditions. We provided numerical examples using biomechanical properties of muscles and tendons reported in the literature. We demonstrated that at maximum isotonic contraction, for muscle and tendon stiffness within physiologically compatible ranges, a third-order muscle-tendon system can be under-damped. Over-damping occurs for values of the damping coefficient included within a finite interval defined by two separate critical limits (such interval is a semi-infinite region in second-order models). An increase in damping beyond the larger critical value would lead the system to mechanical instability. We proved the existence of a theoretical threshold for the ratio between tendon and muscle stiffness above which critical damping can never be achieved; thus resulting in an oscillatory free response of the system, independently of the value of the damping. Under such condition, combined with high muscle activation, oscillation of the system can be compensated only by active control.
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Rehabilitation Institute of Chicago,
e-mail: d-piovesan@northwestern.edu
Brandeis University,
e-mail: pierobon@brandeis.edu
Rehabilitation Institute of Chicago,
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October 2013
Research-Article
Critical Damping Conditions for Third Order Muscle Models: Implications for Force Control
Davide Piovesan,
Rehabilitation Institute of Chicago,
e-mail: d-piovesan@northwestern.edu
Davide Piovesan
1
Sensory Motor Performance Program (SMPP)
,Rehabilitation Institute of Chicago,
Chicago, IL 60611
e-mail: d-piovesan@northwestern.edu
1Corresponding author.
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Alberto Pierobon,
Brandeis University,
e-mail: pierobon@brandeis.edu
Alberto Pierobon
Ashton Graybiel Spatial Orientation Laboratory
,Brandeis University,
Waltham, MA 02454
e-mail: pierobon@brandeis.edu
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Ferdinando A. Mussa Ivaldi
Rehabilitation Institute of Chicago,
Ferdinando A. Mussa Ivaldi
Sensory Motor Performance Program (SMPP)
,Rehabilitation Institute of Chicago,
Chicago, IL 60611
;
Search for other works by this author on:
Davide Piovesan
Sensory Motor Performance Program (SMPP)
,Rehabilitation Institute of Chicago,
Chicago, IL 60611
e-mail: d-piovesan@northwestern.edu
Alberto Pierobon
Ashton Graybiel Spatial Orientation Laboratory
,Brandeis University,
Waltham, MA 02454
e-mail: pierobon@brandeis.edu
Ferdinando A. Mussa Ivaldi
Sensory Motor Performance Program (SMPP)
,Rehabilitation Institute of Chicago,
Chicago, IL 60611
;
1Corresponding author.
Contributed by the Bioengineering Division of ASME for publication in the Journal of Biomechanical Engineering. Manuscript received January 29, 2013; final manuscript received July 10, 2013; accepted manuscript posted July 29, 2013; published online September 20, 2013. Assoc. Editor: Zong-Ming Li.
J Biomech Eng. Oct 2013, 135(10): 101010 (8 pages)
Published Online: September 20, 2013
Article history
Received:
January 29, 2013
Revision Received:
July 10, 2013
Accepted:
July 29, 2013
Citation
Piovesan, D., Pierobon, A., and Mussa Ivaldi, F. A. (September 20, 2013). "Critical Damping Conditions for Third Order Muscle Models: Implications for Force Control." ASME. J Biomech Eng. October 2013; 135(10): 101010. https://doi.org/10.1115/1.4025110
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