Analysis of Neural control mechanism of precise hand movement (control of force,position and compliance)

手部精确运动的神经控制机制分析（力、位置、顺应性的控制）

• 批准号: 62550307
• 负责人: AKAZAWA Kenzo
• 金额: $ 1.28万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-62550307/
• 关键词: Muscle; Viscoelasticity; Stretch reflex; Model; Force control; Position control; Simulation; 神経機構; 運動制御; 中枢制御; ヒト; コンプライアンス; サーボ機構; 手

The purpose of the present study is to investigate neural mechanisms involved in the voluntary precise hand movement, i.e., in the control of position, force and compliance (mechanical impedance) of hand. Obtained results are summarized as follows. (1) Method of estimating mechano-chemical coefficients of human skeletal muscles was developed. (2) viscoelastic coefficients of the flexor and extensor thumb muscles were estimated. (3) The viscoelastic coefficients varied linearly with increasing the force exerted in the voluntary isometric contraction. (4) Both dynamic propertics of the stretch reflex and those of the mechanical impedance in position and force control of the thumb were estimated by using a mathematical model. (5) Gain of the stretch reflex as well as the mechanical impedance were enhanced when producing larger muscle force or controlling the position of unstable load. (6) Angles of individual joints in the upper arm and force applied to the paper were measured in letter-writing motion in man. Control mechanisms of the central nervous system in letter-writing were analyzed by the model.

本研究的目的是研究涉及自愿精确手动运动的神经机制，即控制手的位置，力和依从性（机械阻抗）。获得的结果总结如下。 （1）开发了估计人骨骼肌的机械化学系数的方法。 （2）估计屈肌和伸肌拇指的粘弹性系数。 （3）粘弹性系数随着自愿等距收缩中的力量增加而变化。 （4）使用数学模型估算了拉伸反射的动态反射和拇指的力学阻抗的动态特性。 （5）在产生较大的肌肉力或控制不稳定载荷的位置时，拉伸反射以及机械阻抗的增益得到了增强。 （6）上臂中单个关节的角度和施加到纸上的力的角度以人的字母写入运动来测量。该模型分析了中枢神经系统在字母写作中的控制机制。

项目成果

赤澤堅造,楠本秀忠,藤井克彦: 医用電子と生体工学. 26. (1988)

Kenzo Akazawa、Hidetada Kusumoto、Katsuhiko Fujii：医疗电子和生物工程 26。（1988）。

朴炯俊,赤澤堅造,藤井克彦,楠本秀忠: 電子情報通信学会技術研究報告. MBE88-112. 9-16 (1989)

Hyunjun Park、Kenzo Akazawa、Katsuhiko Fujii、Hidetada Kusumoto：IEICE MBE88-112 (1989)。

赤沢堅造: 計測自動制御学会, 第2回生体理工学シンポジウム論文集. 89-91 (1987)

Kenzo Akazawa：第二届生物工程研讨会论文集，仪器与控制工程师协会，89-91 (1987)

赤澤堅造、竹沢茂、楠本秀忠、藤井克彦: 電子情報通信学会論文誌D. J71-D. 2160-2168 (1988)

Kenzo Akazawa、Shigeru Takezawa、Hidetada Kusumoto、Katsuhiko Fujii：IEICE Transactions D. J71-D 2160-2168 (1988)

赤澤堅造、楠本秀忠、藤井克彦: 医用電子と生体工学. 26. (1988)

Kenzo Akazawa、Hidetada Kusumoto、Katsuhiko Fujii：医疗电子和生物工程 26。（1988）。