Role of Muscle in Postural Tasks: Spinal Loading and Postural Stability
Role of Muscle in Postural Tasks: Spinal Loading and Postural Stability
复制标题
肌肉在姿势任务中的作用：脊柱负荷和姿势稳定性
DOI：
10.1007/978-1-4613-9030-5_23
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发表时间：
1990
期刊：
影响因子：
3
通讯作者：
J. Winters
中科院分区：
文献类型：
--
作者：
G. Andersson;J. Winters
第四节中的主要问题可以通过考虑一项简单的日常任务来阐明：从地板上捡起一个物体(比如中等重量的)，然后把它放在一个新的位置(比如桌面上的一个特定位置)。值得一提的是，机器人在执行这种“简单”任务时遇到了令人惊讶的困难。让我们假设我们的目标是非常实际的：成功地完成这项任务，而不需要付出过多的努力。一个基本的问题与组织负荷有关：显然，各种被动和肌肉组织中的高负荷是不可取的。由于组织负荷很可能是如何完成任务的函数，这种担忧可能会影响运动策略。完成这项任务的另一个基本考虑是不让身体的任何部分屈曲或全身下落：必须满足局部机械稳定性(如脊柱)和整体动态稳定性(即“良好平衡”)。此外，需要一定的安全裕度，首先是因为固有的神经和机械“噪音”，其次是因为预料到不可预见的情况(例如，物体重量与预期的不同)。
The major issues of interest in Section IV can be illuminated by considering a simple, everyday task: picking up an object (say of medium-weight) off the floor and placing it in a new location (say at a specific spot on a tabletop). Of note is that robots have a surprisingly difficult time performing such “simple” tasks. Let’s assume that our goal is quite practical: to successfully complete this task without undue effort. One fundamental issue is related to tissue loading: clearly high loads in various passive and muscular tissues are undesirable. Since tissue loading is likely to be a function of how the task is completed, this concern may influence movement strategy. Another fundamental consideration in completing this task is to not have any part of the body buckle or the whole body fall: local mechanical stability (e.g. of the spine) and overall dynamic stability (i.e. “good balance”) must be satisfied. Furthermore, some margin of safety is desired, first because of inherent neural and mechanical “noise” and second in anticipation of the unforeseen (e.g., the object weight is different than expected)