Human Sensory-Motor Integration Theory and Impedance Training Method Based on Muscle Impedance Properties

人类具有高度发达的感觉受体和功能，使他们能够生存和识别各种外部信息，并可以调节肌肉骨骼系统的动态特性以实现特定的物理目标。人体运动的这种动态特性可以用机械阻抗参数来表示：刚度、粘度和惯性。提示通过对人体阻抗调节能力的训练，可以有效地改善残障人受损的运动功能。本研究提出了一种新的基于人体机械阻抗的训练方法，称为“阻抗训练法”。主要成果如下：利用机器人技术和虚拟技术开发了虚拟运动系统，定量地检测了人体在训练运动中的阻抗特性研究了人体对肌肉阻抗特性的调节能力和对环境阻抗特性的感知能力。基于实验结果，提出了基于机械阻抗的人体感觉-运动整合理论建立了一套基于一自由度直线电机工作台的阻抗训练原型系统，该系统通过变阻抗控制方法来实现各种环境阻抗特性。在健康志愿者的合作下，证明了所提出的培训方法的有效性。

Humans have highly developed sensory receptors and functions that allow them to survive and recognize various kinds of external information, and can regulate dynamic properties of their musculoskeletal systems to achieve specific physical goals. Such dynamic properties of human movements can be expressed by mechanical impedance parameters: stiffness, viscosity, and inertia. It suggests that the training in the regulation ability of human impedance would be effective for improving damaged motor functions of the physically challenged.This study developed a new training methodology based on human mechanical impedance, so-called "Impedance Training method." The major achievements are as follows:[1] The virtual sports system was developed by means of robotic and virtual technologies, and human impedance properties during training movements were examined quantitatively.[2] Human regulation ability of muscle impedance properties and human perception ability of environmental impedance properties were investigated. Based on the experimental findings, human sensory-motor integration theory using mechanical impedance was proposed.[3] A prototype system for the impedance training was developed with a couple of a liner motor table with one degree-of-freedom in which a various environmental impedance properties can be realized by a variable impedance control method. The effectiveness of the proposed training methodology was demonstrated with the cooperation of healthy volunteers.