Project title: (Spinal Column Stability/Control)
(William Smits)

Abstract
A spinal column is modeled through the use of 6 elements connected in the form of inverted pendulums. The accompanying muscles attached to the column are modeled as linear springs and dampers connected to the center of each element to a base/pelvis. Also modeled are the torsion springs and dampers representing the tissue and muscle between each element. Using Lagrange's equation a state space model of the system is created. The stability of the model first under equilibrium conditions and then under varying conditions is to be examined. Muscle control gains are then to be optimized for the postural stabilization.

pdf file(update your current verion in pdf form)

---