What Generates Torques
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Muscle physiology
Simple model of a muscle
Virtual work
Moment arm
The sensory side of the muscle
What Generates Force
http://www.getbodysmart.com/ap/muscletissue/contraction/coupling/
tutorial.html
F
K=
Stiffness
L
T=KSE  x1  x1* 
T=K PE  x 2  x2*   bx2  A
This is the impulse response of the muscle, thus we can simply
Convolve it with our input activity to generate the tension produced
by the muscle. You can think of the convolution operation as a sort
of moving average.
Matlab demonstration using the sinewave generator function
You made for homework
The amount of
force from the
muscle that
becomes torque
is based on the
projection of that
force perpendicular
to the skeletal
segment being
moved.
Like when pushing
a door.
Converting Force to Torque
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Virtual Work
For a linear system
F = ma and Work = F * dist
Converting Force to Torque
See web supplemental info for the
textbook (Shadmehr and Wise)
http://webhost5.nts.jhu.edu/reza/book/index.htm
Go to muscle lectures and model demonstration
Equilibrium Points and motor primitives
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From deafferented monkeys
From spinal cord stimulation
From motor cortex stimulation