Biomedical Engineering Reference
In-Depth Information
Figure 13.36 shows the SIMULINK program. The main program is shown in Figure 13.36 (a),
based on Eq. (13.35). The input to the system is shown in Figure 13.36 (b), and the agonist and
antagonist inputs are shown in Figures 13.36(c) and (d). Figure 13.37 shows the plots of position,
velocity, acceleration, agonist neural input and active-state tension, and antagonist neural input
and active-state tension.
Acceleration
Velocity
Position
Acceleration
Velocity
Position
Input
+
-
-
-
-
Theta 3
Theta 2
Theta 1
1
s
4 to 3
1
s
1
s
1
s
Theta 4
3 to 2
2 to 1
1 to 0
C3
Theta
C2
C1
C0
Time
(a)
Clock
Fag
D
elta * Bant * KSE*FagDot
-K-
du/dt
Derivative
FagDot
Gain3
Fag
+
+
+
Agonist Force Generator
DELTA * KST*KSE
Gain
1
Input
-
(Delta*KST*KSE)*(Fag-Fant)
Sum
-
Sum1
Fant
Antagonist Force Generator
du/dt
Derivative2
-K-
FantDot
Delta * Bag * KSE*FDotAnt
(b)
Gain1
FIGURE 13.36
SIMULINK program for Example Problem 13.6.
Continued
