運動知能を生む身体性の構成論アプローチによる理解

通过对肌肉骨骼机器人的构建和实验，研究了跳跃中脊柱伸展反射和交叉抑制反应的影响，研制了传感器(测量肌肉力量的压力传感器，测量身体平衡的陀螺仪传感器)来测量机器人的行为。结果表明，这两种神经网络对跳跃过程中的平衡都有贡献。这项研究提高了对神经网络的理解，并有助于为脊髓损伤患者制定康复策略。此外，我写了关于这项研究的论文，并发表在皇家学会界面(IF=3.6)上，我还调查了脚绞车机制的影响。首先，我开发了一个肌肉骨骼机器人和带有卷扬机机制的机器人脚(这模仿了人类的脚肌肉骨骼结构)。为了评估这种机制的效果，我开发并配备了传感器来测量性能，包括关节角度、肌肉张力和跳跃高度。并进行了跳跃实验，以检验其效果。结果表明，脚绞车机构可以增加腿部肌肉的力量输出，增加跳跃的高度。这项研究有助于理解人类的生物机制和进化。

By constructing and experiments on a musuloskeletal robot, I investigated the effects of spinal stretch reflex and crossed inhibitory response in hopping.Sensors (pressure sensors to measure the force of muscles, gyro sensors to measure the body balance) were developed and equipped to measure the robot behavior. The results showed that the both neural networks contribute to the balance during hopping. This research improves the understanding of neural networks, and can help developing recovery strategies for patients with spinal cord injury. Moreover, I wrote papers on this study and published on ROYAL SOCIETY INTERFACE (IF=3.6)I also investigated the effect of the foot windlass mechanism. First, I developed a musculoskeletal robot and robotic feet with windlass mechanism (this mimic the foot musculoskeletal structure of human). To evaluate the effect of such mechanism, I developed and equipped sensors to measure the performance, including the angle of joints, tension of the muscles, and the jumping height. Jumping experiments were implemented to test the effects. The results show that the foot windlass mechanism can increase the force output of muscles in legs, and increase the height of jumping. This study can help understanding the bio-mechanism and evolution of human.