权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Multi-joint coordination in upright stance: The uncontrolled manifold helps decouple control of body-in-space from control of other degrees of freedom

直立姿态下的多关节协调：不受控制的流形有助于将空间体的控制与其他自由度的控制解耦

基本信息

批准号：
180347854
负责人：
Professor Dr. Gregor Schöner
金额：
--
依托单位：
Institut für Neuroinformatik (INI)
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2010
资助国家：
德国
起止时间：
2009-12-31 至 2013-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/180347854?language=en
关键词：
Multi joint coordination upright stance

项目摘要

analyzed only in terms of the position of the center of mass in space. This is justified by the inverted pendulum hypothesis according to which upright stance is achieved through control of the ankle joint.Recent empirical work has revealed, however, that the inverted pendulum hypothesis is not a good approximation. Other joints are more variable than the ankle joint and joint variance is structured is a way that reflects the postural task: more variance occurs in the subspace that leaves the enter of mass invariant than in the subspace that affects the center of mass.This proposal is aimed to establish a new theoretical account for the control of upright posture based on the uncontrolled manifold hypothesis, according to which the neuronal control signals to all joints are coupled in a task-specific manner. We will extend a neuronal dynamics model of the uncontrolled manifold by including gravitational forces and an account for how the estimation of the kinematic state of the body in space is fed back to all muscle-joint systems along the kinematic chain.We will validate the model by detailed comparison with published experimental data as well as new data obtained in the laboratory of Prof. John Scholz, with whom we will closely collaborate.If successful, the theoretical work, combining modeling with analysis of experimental data, will establish a new conception of how the estimation problem in upright stance is linked to the control problem.

仅根据质心在空间中的位置进行分析。倒立摆假说证明了这一点，根据倒立摆假说，直立姿势是通过控制踝关节来实现的。然而，最近的实证研究表明，倒立摆假说并不是一个很好的近似。其他关节比踝关节更具可变性，并且关节方差的结构化是反映姿势任务的一种方式：与影响质心的子空间相比，在使质量输入不变的子空间中发生更多方差。该提议旨在基于不受控流形假设建立直立姿势控制的新理论解释，根据该假设，所有关节的神经元控制信号是以特定于任务的方式耦合。我们将通过包括重力来扩展不受控流形的神经元动力学模型，并解释如何将空间中身体运动状态的估计反馈到运动链上的所有肌肉关节系统。我们将通过与已发表的实验数据以及我们将与他密切合作的 John Scholz 教授实验室获得的新数据进行详细比较来验证该模型。这项工作将建模与实验数据分析相结合，将建立直立姿势估计问题如何与控制问题联系起来的新概念。