MUSCULOSKELETAL DYNAMICS AND MOTORCONTROL

肌肉骨骼动力学和运动控制

• 批准号: 3413396
• 负责人: GERALD E LOEB
• 金额: $ 14.83万
• 依托单位: QUEEN'S UNIVERSITY AT KINGSTON
• 依托单位国家: 美国
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-05-15 至 1992-04-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/3413396
• 关键词: cats; chordate locomotion; computer program /software; electromyography; mathematical model; motor neurons; posture; proprioception /kinesthesia; sensory feedback; skeletal system; spinal reflex

The hindlimb has long been the chief system in which the motor sequencing and control functions of the spinal cord have been studied. Recent work has emphasized the mechanical complexity of the musculoskeletal apparatus and the corresponding complexity of spinal circuits for sensory feedback and reflexes; however, there has been no formal approach to relate the two. Furthermore, the need for systematic application of control theory has been underlined by recent clinical work to restore motor control of paralyzed limbs via functional neuromuscular stimulation and other prosthetic acids. This proposal seeks funds to: 1) continue the development of a 2D mathematical model of the musculoskeletal apparatus and make it available as a personal computer program and as a monograph describing the functional anatomical and biomechanical relationships of the cat hindlimb during normal walking. 2) apply linear quadratic regulator theory to make quantitative predictions of the distribution of proprioceptive feedback from muscles and joints under different kinematic conditions and behavioral objectives of the organism. 3) generalize the modeling process by using automatic equation writing techniques to permit users to generate models of arbitrary physical form, including 3D and multi-legged representations, interactively. Data on the natural EMG and kinesiology from chronically instrumented animal will be combined with musculoskeletal morphometry to permit the step cycle to be decomposed into joint torques (by inverse dynamics) and the work of individual muscles (using an experimentally validated model of EMG- to-force-output). Hypothetical sets of proprioceptors with properties akin to those recorded previously from chronically instrumented animals will be built into a model of the sensory feedback available for responding to small perturbations. Linear quadratic controllers will be designed for a range of optimization criteria that weight energy conservation vs. various measures of kinesiological stability. These feedback matrices and the responses of the model system to applied perturbations will be compared wit the responses to electrical stimulation of muscle nerves (to be measured during treadmill walking in chronically instrumented cats) and with data from other investigators regarding responses to mechanical perturbations of standing posture and projections from proprioceptors via spinal cord circuits.

长期以来，后肢一直是运动排序的主要系统 并对脊髓的控制功能进行了研究。近期工作 强调了肌肉骨骼设备的机械复杂性 以及相应的感觉反馈脊髓回路的复杂性 和条件反射；然而，还没有正式的方法将这两者联系起来。 此外，对控制理论的系统应用的需要已经被 最近的临床工作强调了恢复瘫痪患者的运动控制 四肢通过功能性神经肌肉刺激和其他假体酸。 这项建议寻求资金：1)继续开发2D 肌肉骨骼器械的数学模型并使其可用 作为个人计算机程序和描述功能的专著 猫后肢的解剖学和生物力学关系 正常的走路。2)应用线性二次型调节器理论进行控制 本体感觉反馈分布的定量预测 从肌肉和关节在不同的运动学条件和行为 生物体的目标。3)对建模过程进行了泛化 自动公式编写技术，允许用户生成以下模型 任意的身体形式，包括3D和多腿表示， 以交互方式。 来自慢性仪器的自然肌电和运动学数据 动物将与肌肉骨骼形态测量相结合，以允许该步骤 循环分解为关节力矩(通过逆动力学)和 单个肌肉的工作(使用经过实验验证的肌电模型- 到强制输出)。具有相似特性的假想本体感受器集合 与之前从慢性仪器化动物记录的那些将是 内置于可用于响应的感觉反馈模型中 小小的干扰。线性二次型控制器将被设计用于 权衡节能与各种优化标准的范围 运动学稳定性的测量。这些反馈矩阵和 模型系统对外加扰动的响应将与 电刺激肌肉神经的反应(待测 在长期使用仪器的猫的跑步机行走期间)和数据 来自其他研究人员关于对机械扰动的反应 站立姿势与本体感受器经脊髓的投射 电路。