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Skeletal components are constructed with fiberglass using molds made
with human cadaver bones.
Large
image (1784x1207x24 TIFF--6.2MB) |
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Surgical replacement joints (stainless steel) are used for the elbow
and shoulder joints. Fabric ligaments are attached to both sides of the
joints at biomechanically accurate locations. |
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Pneumatic McKibben
Artificial Muscle actuators are used for the arm's muscles; these too
are attached at biomechanically accurate locations. |
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Functional replicas of muscle spindles were developed to
sense the elbow position. Like human muscle spindles, these sensors
contain active elements which change their output functions based on
seperate afferent neural input singnals. |
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New computational models of the human neural circuits used in spinal
reflexive postural control were developed from known physiological
parameters and existing experimental data. A specialized Digital
Signal Processor (DSP) board has been developed to emulate the
function of human spinal-reflexive neural circuits used in postural and
motion control. |
