Learning and adaptation of Multi-Joint Arm Movement

描述（由申请人提供）：这些研究的目的是了解健康受试者如何控制手与环境之间的接触力。虽然许多研究都集中在运动分析上，但很少有人知道在执行简单任务时控制接触力的能力，比如在白板上写字或操作螺丝刀。提出的研究将利用PI在以前的周期中开发的电机控制的实验和理论方法。该方法基于将手臂控制系统的动作描述为神经肌肉系统在手和环境之间的界面上产生的力场。这种方法已经成功地描述了多关节手臂的姿势、运动和对外部环境变化的适应（力扰动）。本提案的研究与过去的工作（部分）是双重的，因为我们将研究多关节力控制和对外部环境变化（运动扰动）的适应。研究分为三个具体目标：（AIM 1）描述和量化力控制的机制。本研究将在一组健康受试者身上测试(a)力产生的方向准确性和可重复性；(b)受试者在随机环境下可实现的阻抗动态范围，从力控制时的低水平到姿态控制时的高水平；(c)假设力和姿势控制任务中的阻抗在环境特征良好时恢复到相似的水平。（AIM 2）建立力控制的自适应特性。当一个人学会在一个新的环境中操作时，他就形成了环境力学和几何的表征。这些表征是在不需要重新学习运动技能的情况下恢复表现的基础。在接触环境的机械特性发生变化后，将研究自适应机制以恢复力控制。（目的3）评估和加强在操作任务中力和运动控制的结合。有目的的运动行为需要同时满足力和运动目标。因此，本研究的最终目标是了解力控制的训练是否以及如何导致在运动和力要求相结合的任务中提高性能，例如装配。这项研究将利用PI实验室中可用的触觉和增强现实技术。这一建议旨在理解力控制的完整机制。我们期望这项研究的观察结果将导致中风和其他疾病后力量控制和操作缺陷的比较描述，以及恢复这些功能的新方法。公共卫生相关性：本建议旨在了解力控制的完整机制。我们期望这项研究的观察结果将提供一个坚实的基础，将迅速导致中风和其他疾病后力量控制和操纵缺陷的比较描述，以及恢复这些功能的新方法。

DESCRIPTION (provided by applicant): The goal of these studies is to understand how healthy subjects control contact forces between the hand and the environment. While many studies have focused on the analysis of motion, little is known about the ability to control contact forces when performing simple tasks, such as writing on a whiteboard or operating a screwdriver. The proposed studies will take advantage of an experimental and theoretical approach to motor control developed by the PI in previous cycles. The approach is based on describing the action of the arm control system as a field of forces generated by the neuromuscular system at the interface between the hand and the environment. This approach has been successful in describing multi-joint arm posture, movement and adaptation to changes in the external environment (force perturbations). The studies of this proposal are dual (in part) to this past work, as we will study multi-joint force control and adaptation to changes in the external environment (motion perturbations). The studies are organized into three specific aims: (AIM 1) To describe and quantify the mechanics of force control. This study will test, on a population of healthy subjects, (a) the directional accuracy and repeatability of force generation; (b) subjects' achievable dynamic range of impedance in stochastic environments, from low levels during force control to high levels during posture control; and (c) the hypothesis that impedance during force and posture control tasks revert to similar levels when the environment is well characterized. (AIM 2) To establish the adaptive properties of force control. As one learns to manipulate in a new environment, one forms representations of the environmental mechanics and geometry. These representations are the basis for the recovery of performance without the need for relearning motor skills. Adaptive mechanisms will be investigated for the recovery of force control after a change in the mechanical properties of the contacted environment. (AIM 3) To assess and enhance the combination of force and motion control in manipulation tasks. Purposeful motor behavior requires the satisfaction of force and motion goals that are often present concurrently. Accordingly, the final goal of this study is to understand whether and how the training of force control may lead to improved performance in tasks that combine motion and force requirements, such as assembly. This study will take advantage of haptic and augmented reality technologies that are available in the PI's laboratory. This proposal is directed at understanding the intact mechanisms of force control. We expect that the observations from this study will lead to a comparative description of force control and manipulation deficits after stroke and other disorders, as well as to novel methods for the restoration of these functions. PUBLIC HEALTH RELEVANCE: This proposal is directed at understanding the intact mechanisms of force control. We expect that the observations from this study will provide a solid basis that will lead rapidly to a comparative description of force control and manipulation deficits after stroke and other disorders, as well as to novel methods for the restoration of these functions.