Bi-articular muscle as a principle keyword for biomimetic motor link system
Bi-articular muscle as a principle keyword for biomimetic motor link system
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双关节肌作为仿生运动连接系统的关键关键词
DOI：
10.1109/mmb.2002.1002344
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
T. Fujikawa
中科院分区：
文献类型：
--
作者：
M. Kumamoto;T. Oshima;T. Fujikawa
利用配备双关节致动器和单关节致动器的机械双关节连杆模型，从EMG运动学角度与人类受试者和机器人一起检查和讨论了双关节肌肉的独特功能特性。结果表明，一对拮抗的双关节肌肉和两对拮抗的单关节肌肉表现出一个完美的协调活动模式，并有助于输出力的方向控制在端点的四肢。三对拮抗肌的协调活动能够再现通过一个单一的命令信号通知力的方向，通过一个简单的脊髓水平神经网络。因此，动物双关节肌肉的存在可能以非常简单的控制机制机械地支持动物特有的运动控制特性。
Unique functional properties of the bi-articular muscles were examined and discussed in terms of EMG kinesiology with human subjects and robotics utilizing a mechanical two-joint link model provided with bi-articular actuators as well as monoarticular actuators. It was revealed that one antagonistic pair of the bi-articular muscles and two antagonistic pairs of the mono-articular muscles demonstrated a perfectly coordinating activity pattern and contributed to output force direction control at the endpoint of the extremities. The coordinating activities of three pairs of antagonistic muscles were able to reproduce by a single command signal informing force direction via a proposed simple spinal level neural network. Thus, the existence of the bi-articular muscles in animals might mechanically support animal like unique motor control properties with very simple control mechanisms.