肌肉共同收缩对手臂屈伸运动末端阻抗的影响  

Contribution of co-contraction to arm impedance in the free planar movement

作　　者：付春江[1] 王如彬[1] 

机构地区：[1]华东理工大学信息科学与工程学院认知神经动力学研究所,上海200237

出　　处：《医用生物力学》2009年第6期427-433,共7页Journal of Medical Biomechanics

摘　　要：目的阻抗控制在稳定性控制中起着重要的作用,以手臂屈伸运动为对象建模来研究人体的阻抗控制规律,从而为更高层次的运动认知与工具使用奠定基础。方法对现有的人体运动控制进行了改进,运用神经肌肉骨骼模型及最优控制方法推导出共同收缩阻抗,并对仿真结果与原模型和实验数据进行了对比。结果从对比图中可以看出,所给模型修正了原有模型刚度椭圆单调变化的不足,与实验数据更加吻合。结论即使在手臂平面自由运动中,肌肉共同收缩对阻抗也有贡献。Objective Impedance control plays an important role in stability. This paper intends to explore such mechanism through modeling human reaching movement. Method Implemented with revised model, we apply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses. Result Compared with the original model and experimental figures, the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better. Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.

关 键 词：共同收缩 手臂阻抗 神经肌肉骨骼模型 最优控制 刚度椭圆 阻抗控制 

分 类 号：R318.01[医药卫生—生物医学工程]