Spring and latch dynamics can act as control pathways in ultrafast systems
Nak-seung Patrick Hyun, Jeffrey P. Olberding, Avik De, Sathvik Divi, Xudong Liang, Elayne M. Thomas, Ryan St. Pierre, Emma Steinhardt, Justin F. Jorge, Sarah J. Longo, S. M. Cox, Elizabeth Mendoza, Gregory P. Sutton, Emanuel Azizi, Alfred J. Crosby, Sarah Bergbreiter, Robert J. Wood, S. N. Patek
Abstract
Ultrafast movements propelled by springs and released by latches are thought limited to energetic adjustments prior to movement, and seemingly cannot adjust once movement begins. Even so, across the tree of life, ultrafast organisms navigate dynamic environments and generate a range of movements, suggesting unrecognized capabilities for control. We develop a framework of control pathways leveraging the non-linear dynamics of spring-propelled, latch-released systems. We analytically model spring dynamics and develop reduced-parameter models of latch dynamics to quantify how they can be tuned internally or through changing external environments. Using Lagrangian mechanics, we test feedforward and feedback control implementation via spring and latch dynamics. We establish through empirically-informed modeling that ultrafast movement can be controllably varied during latch release and spring propulsion. A deeper understanding of the interconnection between multiple control pathways, and the tunability of each control pathway, in ultrafast biomechanical systems presented here has the potential to expand the capabilities of synthetic ultra-fast systems and provides a new framework to understand the behaviors of fast organisms subject to perturbations and environmental non-idealities.