Analysis of Muscle Impedance Characteristics in Human Movements and Its Application to a Motor Rehabilitation Support System

本研究旨在发展一种新的人体运动肌肉阻抗模型，并将其应用于残疾人肢体康复支持系统的开发。主要研究成果如下：（1）采用二自由度直线电机系统和变阻抗控制方法，研制了一种新型阻抗训练系统。实验结果表明，正常人能自主地控制其阻抗特性，并具有较高的精度。(2)利用所研制的训练系统，对正常人在训练过程中的肌阻抗特性进行了分析。特别是，任务对象的动态对肌肉阻抗以及脊髓反射通路的敏感性的影响进行了检查。(3)利用虚拟现实技术开发了一个虚拟体育系统。以网球和曲棍球为目标任务，测量了正常人在虚拟运动中的手阻抗。结果表明，受试者根据任务环境改变他们的手阻抗。(4)利用所开发的虚拟运动训练系统，对小脑疾病患者进行阻抗知觉训练。从实验结果，它表明，患者改变他们的手臂和手的动作取决于阻抗的任务对象的属性，而阻抗训练。这意味着阻抗感知和运动控制高度相关。

The purpose of this research is to develop a new muscle impedance model of human movements and apply it to the development of physical rehabilitation support system for the disabled. The obtained results throughout this research can be summarized follows:(1) A new impedance training system was developed using a linear motor system with two degrees of freedom and variable impedance control method. It was shown from experiments that the normal subjects can control voluntarily their impedance characteristics with high accuracy.(2) Using the developed training system, muscle impedance characteristics of the normal subjects was analyzed while training. Especially, effects of dynamic of the task objects to muscle impedance as well as sensitivity of spinal reflex pathway were examined.(3) A virtual sports system using the virtual reality technique was then developed. Tennis and air hockey were chosen as the target tasks, and hand impedance of the normal subjects was measured during virtual sports. It was show that the subjects change their hand impedance depending on the task environments.(4) Using the developed virtual sports training system, impedance perception training for patients with cerebellar disease were performed. From the experimental results, it was shown that the patients changed their arm and hand motions depending on the impedance properties of the task objects while the impedance training. This implies that impedance perception and motor control are highly related.