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Muscle synergy6/10/2023 This is explained by the separate innervations to each portion of the GMed muscle (Grimaldi, 2011). These deep parts may be involved more in joint protections with the superficial parts being more involved in torque production. GMed: The anterior and posterior portions sit deep to the middle or lateral superficial portion. Vastus lateralis is thought to contract and act as a hydraulic amplifier.TFL and UGM with ITB create the deltoid of the hip.The hip abductor synergy comprises of UGM, tensor fascia latae (TFL) and vastus lateralis (VL) (superficial system), GMed and piriformis (intermediate system), and GMin (deep system). Both UGM and LGM are active during heel strike to help absorb ground reaction forces which causes lateral pelvic drop and flexion moments at the hip (Grimaldi, Richardson, Durbridge, et al., 2009, p.616).Both UGM and LGM contribute to external rotation (Grimaldi, Richardson, Durbridge, et al., 2009, p.612).The lower portions of gluteus maximus sit below the axis of rotation and are primarily involved in extension.The upper portions of gluteus maximus arise from above the axis of rotation and are primarily involved in abduction.The extensor synergyįirstly lets talk about the action of gluteus maximus, the primary hip extensor muscle. The descriptions below of each synergy has been summarised from the work by Grimaldi (2011). An alternative system for visualising how these muscles act together is that of muscle synergies. There are tables below displaying this information. We learn their individual origin, insertion, innervation, and action. Thinking of muscles in terms of ' Layers of control' is how I was taught about muscles during university. Gluteus maximus, TFL, long adductors, Rectus femoris, Satorius, and the hamstrings.Primary function in torque production, also controls pelvis/hip control, and controls high load functional tasks.Gluteus medius, piriformis, short adductors, and iliopsoas.Plays a role in torque production and control of the pelvis on the femur in weight bearing.Iliacus, gluteus minimus, obturator externus, obturator internus, gamelli, and quadratus femoris.Primarily act to control the movement of the femoral head in the acetabulum.Grimaldi (2009) breaks down muscles into layers of control as follows: Understanding the role of muscle synergies can allow us to select functional tasks to assess different aspects of muscle function. When assessing the hip it may be helpful to view groups of muscles as synergies rather than individual units. This blog goes into further detail about these muscle synergies. A previous blog has outlined the changes associated with osteoarthritis. We extensively evaluate our method on a variety of robot morphologies, and the results show its superior efficiency and generalizability, especially on robots with a large DoF like Humanoids++ and UNIMALs.Grimaldi and colleagues have published several articles which outline the muscle synergies around the hip and the changes in muscle function associated with hip joint pathology. In this way, we achieve a low-rank control at the synergy level. ![]() Actuators are grouped into synergies by an unsupervised learning method, and a synergy action is learned to control multiple actuators in synchrony. Motivated by the way the human central nervous system controls numerous muscles, we propose a Synergy-Oriented LeARning (SOLAR) framework that exploits the redundant nature of DoF in robot control. ![]() However, with the increase in the Degree of Freedom (DoF) of robots, training a morphology-generalizable modular controller becomes exponentially difficult. Previous work on modular RL has proven its ability to control morphologically different agents with a shared actuator policy. Abstract: Modular Reinforcement Learning (RL) decentralizes the control of multi-joint robots by learning policies for each actuator.
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