Decomposition of Limb Movement Based on Muscular Coordination During Human Running
Decomposition of Limb Movement Based on Muscular Coordination During Human Running
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DOI：
10.20965/jaciii.2011.p0980
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发表时间：
2011-10-01
影响因子：
0.7
通讯作者：
Miyazaki, Fumio
中科院分区：
文献类型：
--
作者：
Iimura, Taiki;Inoue, Keita;Miyazaki, Fumio
将运动分解为运动功能单元的研究在神经科学中正在发展。同时，在机器人技术中，类人机器人的电机控制存在冗余自由度问题。我们试图利用我们对运动功能单位的了解来实现类人肌肉骨骼机器人的少自由度控制。在本文中，我们介绍了“激动剂-拮抗剂肌肉对（A-A）比率”和“A-A活性”，这是用肌电图（EMG）数据定义的，描述了激动剂和拮抗剂肌肉之间的协调。从肌肉协调的角度出发，利用主成分分析（PCA）将人体跑步分解为两个运动功能单元。通过仿人肌肉骨骼腿机器人将提取的肌肉协调模式的运动意义可视化。
The study of decomposing movement into units of motor function is evolving in neuroscience. Meanwhile, in robotics, there is a problem with redundant Degrees Of Freedom (DOF) in the motor control of human-like robots. We attempt to achieve fewer-DOF control of a human-like musculoskeletal robot by using our knowledge of the units of motor function. In this paper, we introduce "the agonist-antagonist muscle pairs (A-A) ratio" and "A-A activity," which are defined by using ElectroMyoGraphic (EMG) data and which describe the coordination between the agonist and antagonist muscles. Human running is decomposed into two units of motor function from the point of view of muscle coordination using Principal Component Analysis (PCA) of these biological signals. The kinematic meanings of the extracted patterns of muscle coordination are visualized by human-like musculoskeletal leg robot.