一种用于人体垂直平衡控制的小脑模型  

A Model of Cerebellum for Control of Human Upright Balance

作　　者：张少白[1,2] 阮晓钢[1] 成谢锋[2] 冯志全[3] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022 [2]南京邮电大学计算机学院,江苏南京210003 [3]济南大学信息科学与工程学院,山东济南250022

出　　处：《电子学报》2008年第11期2132-2138,2143,共8页Acta Electronica Sinica

基　　金：国家863高技术研究发展计划(No.2007AA04Z226);国家自然科学基金(No.60774077,No.60773109);高等学校博士学科点专项科研基金(NO.20050005002);南京邮电大学引进人才项目基金(No.NY207134)

摘　　要：提出了一种具有长回路力反馈以及增益调整的控制模型,用以描述人体垂直平衡的控制.模型主要由大脑和小脑两部分组成.小脑部分由两组增益表示.这两组增益负责提供踝—膝—臀环路之间相同或交联关节长回路延伸反应的线性缩放比.大脑部分则仅仅包含一组相同关节线性力反馈的增益.本文提出,小脑是将控制增益组作为感觉人体运动状态的函数来转换的.通过仿真,该模型证明,稳定的、具有线性增益调整的混合长回路反馈,可以在缺乏明确动态内模的情况下提供实时平衡控制.The paper presents a model of eerebellum with long-loop force feedback and gains scheduling so as to demonstrate the control of human upright balance. The model consists mostly of two parts, i. e. cerebrum and cerebellum. The eerebellar component of the controller is represented by two sets of gains that provide linear scaling of same-joint and interjoint long-loop stretch responses between ankle, knee and kip. Whereas the cerebral component of the model composes a single set of same-joint liner force feedback gains. The paper, however, proposes that the cerebellum switches control gain sets as a function of sensing human body kinematics state.By means of simulation, the model illustrates that stabilized hybrid long-loop feedback with scheduling of linear gains may afford realistic balance control in the absence of explicit internal dynamics models and suggests that the cerebellum and cerebral cortex may contribute to the balance control via such mechanism.

关 键 词：小脑模型 垂直平衡 实时平衡控制 仿真 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]