Page 22 - Handbook of Biomechatronics

Introduction 15

scale-based model of subsystems and interfaces while feeling confident
that all possible nonlinearities could be added, as and when required.
A simplified and linearized starting point is what the dreams are made
of, in modeling and design. From mechanoreceptors to right-hand punch
kinematics, and from concert pianist to degenerative diseases, it is the flow
of energy and power that is the common denominator. It is the energetic
descriptions that provide a tangible insight into the often clogged mech-
anisms governing performance of this sophisticated engineering system
known as human body. The mathematical descriptions, however, are
based on fundamental rules of interaction set by causal laws. Causality pro-
vides the skeleton for simplicity while allowing nonlinearities of all shape,
size, and form to be included at a later stage. The concept of causality is
based on basic bidirectional relationship between the two systems where
the first system is exerting an “effort” or “flow,” and the second system
responds by exerting flow or effort onto the first.

9 DESIGN PHILOSOPHY

The relationship between any event (consequence) and its cause
(antecedent) is primarily dependent on the observer field (discipline) and
his sphere of realm. It is he/she, based on intradisciplinary criteria, who
establishes the connections and performs the selection for an individual
cause. Any discipline, on the other hand, inherently shapes the boundaries
for the generic causal relations. Here, mathematical isomorphic relations
could be adopted to define and describe the characteristics and properties
of systems and subsystems. This makes the elemental causal characteristics
independent of the observer and the disciplinary criteria. Such formaliza-
tion would have a direct bearing on any synthesizing technique which
may adopt these elements as the building blocks. An element, with a set
causal structure, can therefore indicate a particular antecedent within but
independent of the nature of the system in which the event has taken place.
The two problems of causal connection and causal selection may therefore
be solved through:
1. Question on the existence of causal relations (causal connections) is
by-passed; by the virtue of existence of an element, the existence of
causal relations has already been established.
2. The relative importance of antecedents with direct bearing on an event
may be established by appropriate backtracking of the set causal relations