Dual-Hierarchical Control Mechanism of Interpersonal Embodied Interactions in Cooperative Walking
Dual-Hierarchical Control Mechanism of Interpersonal Embodied Interactions in Cooperative Walking
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DOI：
10.20965/jaciii.2011.p0534
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发表时间：
2011-07-01
影响因子：
0.7
通讯作者：
Miyake, Yoshihiro
中科院分区：
文献类型：
--
作者：
Muto, Takeshi;Miyake, Yoshihiro
人与人之间的具身互动作为人类发展和康复中的新兴功能发挥着重要作用。然而，一个框架应用体现互动的“人机界面系统”，以支持这种紧急功能尚未建议，因为电机控制机制的细节尚未得到澄清。在这项研究中，两个人的人际合作步行运动，作为这样一种机制的一个例子，已被复制和他们的运动控制机制进行了分析。结果表明，层次动力学来自于人际的脚步夹带过程和手臂和脚步运动的个人内部相互作用。我们认为，体现在合作行走的相互作用是通过一个双层次的控制结构相关的出现的阶段控制功能的人际合作行走，基于自动控制机制的人际夹带的脚步运动和个人的非自愿运动控制机制。
Interpersonal embodied interactions play a significant role as emergent functions in human development and rehabilitation. However, a framework for applying embodied interactions to "human interface systems" to support such emergent functions has not yet been suggested because the details of the motor-control mechanism have not yet been clarified. In this study, the interpersonal cooperative walking motions of two humans, as an example of such a mechanism, have been replicated and their motor-control mechanisms analyzed. The results indicate that the hierarchical dynamics were derived from an interpersonal footstep entrainment process and an intrapersonal interaction of arm and footstep motions. We suggest that embodied interactions in cooperative walking are achieved by a dual-hierarchical control structure related to emergence of the phase-control function of interpersonal cooperative walking, based on an automatic control mechanism for interpersonal entrainment of footstep motions and an intrapersonal voluntary-motion-control mechanism.