THE CONTROL OF HAND EQUILIBRIUM TRAJECTORIES IN MULTIJOINT ARM MOVEMENTS
THE CONTROL OF HAND EQUILIBRIUM TRAJECTORIES IN MULTIJOINT ARM MOVEMENTS
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DOI：
10.1007/bf00338819
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发表时间：
1987-01-01
影响因子：
1.9
通讯作者：
FLASH, T
中科院分区：
文献类型：
--
作者：
FLASH, T
根据平衡轨迹假说，多关节手臂运动是通过逐渐移动由神经肌肉活动定义的手平衡位置来实现的。在任何时候，施加在手臂上的力的大小取决于手的实际位置和平衡位置之间的差异以及平衡位置附近的刚度和粘度。本文的目的是测试的有效性和影响这一假设的背景下达到运动。一个跟踪平衡轨迹的手臂的行为的数学描述，并在计算机模拟中实现。在这些模拟中使用的关节刚度参数来自实验测量的静态刚度值。从测量的平面水平运动的手平衡轨迹的运动学特征引起的建议，达到运动的产生涉及明确的规划空间和时间不变的手平衡轨迹。通过基于假设的平衡轨迹模拟实际手臂运动来测试该假设。成功的预测行为在捕获的定性特征和定量运动学细节的测量运动支持平衡轨迹假说。这里建议的控制策略可以使电机系统避免与多关节手臂运动相关的一些复杂计算问题。
According to the equilibrium trajectory hypothesis, multi-joint arm movements ae achieved by gradually shifting the hand equilibrium positions defined by the neuromuscular activity. The magnitude of the force exerted on the arm, at any time, depends on the difference between the actual and equilibrium hand positions and the stiffness and viscosity about the equilibrium position. The purpose of this paper is to test the validity and implications of this hypothesis in the context of reaching movements. A mathematical description of the behavior of an arm tracking the equilibrium trajectory was developed and implemented in computer simulations. The joint stiffness parameters used in these simulations were derived from experimentally measured static stiffness values. The kinematic features of hand equilibrium trajectories which were derived from measured planar horizontal movements gave rise to the suggestion that the generation of reaching movements involves explicit planning of spatially and temporally invariant hand equilibrium trajectories. This hypothesis was tested by simulating actual arm movements based on hypothetical equilibrium trajectories. The success of the predicted behavior in capturing both the qualitative features and the quantitative kinematic details of the measured movements supports the equilibrium trajectory hypothesis. The control strategy suggested here may allow the motor system to avoid some of the complicated computational problems associated with multi-joint arm movements.