An Analysis of Human Hand Impedance Characteristics During Isometric Muscle Contractions
An Analysis of Human Hand Impedance Characteristics During Isometric Muscle Contractions
复制标题
等长肌肉收缩时人手阻抗特性分析
DOI：
10.9746/sicetr1965.32.271
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
Koji Ito
中科院分区：
文献类型：
--
作者：
T. Tsuji;M. Moritani;M. Kaneko;Koji Ito
本文通过实验测量了人体手臂等长收缩时的阻抗特性，分析了手阻抗与肌肉收缩水平的关系。首先，当受试者将肌肉收缩水平或幅度以及手部力量的方向调节到指示值时，通过操纵器对他的手施加小的外部干扰。测量由扰动引起的手部位移和力的时间变化，并使用二阶线性模型估计手部阻抗。在实验期间，测量作用在肩关节和/或肘关节上的主要肌肉的EMG信号，以便估计受试者的肌肉收缩水平。不同科目的实验结果总结如下：1）激动肌和拮抗肌的共同激活增加了刚度和粘性椭圆的面积，2）手刚度的空间特性取决于手力的幅度和方向而改变，3）受试者的手的刚度和虚拟轨迹都随着手力而改变，（4）从肌电信号中预测手臂阻抗具有足够的准确性。
In this paper, impedance characteristics of human arm during isometric muscle contraction are measured experimentally, and relationships between hand impedance and various muscle contraction levels are analyzed. Firstly, while a subject regulates a muscle contraction level or amplitude and direction of hand force to an instructed value, small external disturbances to his hand are applied by a manipulandum. Time changes of the hand displacements and forces caused by the disturbance are measured, and the hand impedance are estimated using a second-order linear model. During the experiments, EMG signals of major muscles acing on shoulder and/or elbow joints are measured in order to estimate a muscle contraction level of the subject. The experimental results in different subjects are summarized as follows: 1) coactivation of agonist and antagonist muscles increases the area of stiffness and viscosity ellipses, 2) spatial characteristics of hand stiffness are changed depending on the amplitude and the direction of the hand force, 3) not only stiffness but also virtual trajectory of the subject's hand change with hand force, 4) it might be possible to predict the arm impedance form EMG signals with sufficient accuracy.