"The study on Impedance Regulation and Cooperative Control for Human Movements"

包括人类在内的高级动物都有很高的自主行为和行动能力。因此，在运动实际输出为肌肉活动模式之前，必须提前执行相当复杂的行为和运动的编程。各种各样的问题必须解决，例如，直到肌肉收缩的时间模式最终从目的诱导出来，例如，试图喝水。在本研究中，本文从人体运动的各种问题中，归纳出以下几个方面：1）肌肉骨骼系统的力学机制与运动阻抗调节的关系;如何控制人体和肢体的操作阻抗和关节阻抗对应于自主运动和物体的阻抗。3）通过运动阻抗控制人体运动的模式生成。虽然我们得到了许多有趣的结果，其中之一已经揭示了人类基于任务的性质灵巧地调节手部力和手部阻抗。此外，最佳使用的阻抗调节机制的特点是并发活动的屈肌和伸肌的肌肉，以设置阻抗在腕关节为给定的任务。该控制过程定义了冗余臂的姿态，同时允许适当地保持手的可操纵性。它还为手提供了抵抗外部干扰的鲁棒性，或使其不易受外部干扰的影响。

Advanced animals, including man, have a very high ability to voluntarily behave and move. Therefore, before the movement is actually output as a pattern of muscular activity, the programming of considerably complex behaviors and movements must be executed in advance. A variety of problems must be solved, for example, until the time pattern of muscular contraction is finally induced from the purpose of, such as, trying to drink water.In the present research, the following items were picked up from the variety of problems of human movements.1)The relation between the mechanical mechanism of musculo-skeletal system and the regulation of motor impedance.2)How are the operational and joint impedances of human body and limbs controlled corresponding to the voluntarily movements and object's impedance.3)The pattern generation for human movements via motor impedance control.Though we got many interesting results, one of them has revealed that humans dexterously adjust hand force and hand impedance based on the nature of the task. Also, optimal use of impedance regulating mechanism featured by concurrent activities of the flexor and extensor of the muscles is achieved to set impedance at the wrist joint for the given task. This process of control defines the posture of redundant arm while allowing manipulatability of the hand be properly maintained. It also provides the hand with robustness against, or makes it less vulnerable to, external disturbances.