《太空生物工程与生命支撑》（英文版）humanrobot

16.423J/HST5l5J Aerospace Biomedical Engineering and Life Support Prof. Newman Robot/Human Comparisons(how inhumane) Table I presents some of the elements of robotic and animal movement systems neatly compared for your viewing pleasure Table l. Comparison of movement Control Systems in the robot and human ROBOT HUMAN Communication wires 105-106 axons 3x 108 m/sec 10-100m/sec Control System brain/spinal cord Effectors motors (linear) 400 muscles(non-linear) Effector Directionality push or pull Transmission gears/linkages joints/tendons (precise geometry (nightmare geometry gree o Freedon Control Design closed loop Transducers position position(Muscle spindle) ity(muscle acceleration force(Ge Organ Table II Motor Unit Properties(adapted from Henneman, 1980). Red Muscle fibers White Muscle fibers Number of motorunits many fe Number of muscle fibers few many Axon diameter small Tetanic tension ge Contraction speed OW Blood ly

16.423J/HST515J Aerospace Biomedical Engineering and Life Support Prof. Newman Robot / Human Comparisons (how inhumane) Table I presents some of the elements of robotic and animal movement systems neatly compared for your viewing pleasure. Table I. Comparison of Movement Control Systems in the Robot and Human Communication Speed Control System Effectors Effector Directionality Transmission Degree of Freedom Control Design Transducers ROBOT wires 3 x 108 m/sec computer motors (linear) push or pull gears/linkages (precise geometry <10 closed loop position velocity acceleration HUMAN 105-106 axons 10-100 m/sec brain/spinal cord 400+ muscles (non-linear) pull only joints/tendons (nightmare geometry ~100 closed loop position (Muscle spindle) velocity (Muscle spindle) force (Golgi Tendon Organ) Table II Motor Unit Properties (adapted from Henneman, 1980). Red Muscle Fibers White Muscle Fibers Number of motor units many few Number of muscle fibers few many per motor unit Axon diameter small large Tetanic tension small large Contraction speed slow rapid Fatigue slow rapid Metabolism aerobic anaerobic Blood supply rich sparse