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MUSCULOSKELETAL DYNAMICS AND MOTORCONTROL

肌肉骨骼动力学和运动控制

基本信息

批准号：
3413397
负责人：
GERALD E LOEB
金额：
$ 17.1万
依托单位：
QUEEN'S UNIVERSITY AT KINGSTON
依托单位国家：
美国
项目类别：
财政年份：
1989
资助国家：
美国
起止时间：
1989-05-15 至 1992-10-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/3413397
关键词：
cats chordate locomotion computer program /software electromyography mathematical model motor neurons posture proprioception /kinesthesia sensory feedback skeletal system spinal reflex

项目摘要

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，后肢一直是运动序列的主要系统，和脊髓的控制功能进行了研究。最近的工作强调了肌肉骨骼系统的机械复杂性以及相应的感觉反馈脊髓回路的复杂性和反射;然而，还没有正式的方法将两者联系起来。此外，控制理论的系统应用的需要已经得到了强调最近的临床工作，以恢复运动控制的瘫痪通过功能性神经肌肉刺激和其他假肢酸。该提案寻求资金用于：1）继续开发2D 肌肉骨骼器官的数学模型，并使其可用作为一个个人计算机程序，并作为一个专着描述的功能，猫后肢的解剖学和生物力学关系正常行走。 2)应用线性二次型调节器理论，本体感觉反馈分布的定量预测在不同的运动学条件和行为下，有机体的目标。 3)通过使用自动方程书写技术，允许用户生成任意物理形式，包括3D和多腿表示，交互式。来自长期仪器化的自然EMG和运动学数据动物将与肌肉骨骼形态测量相结合，循环被分解为关节力矩（通过逆动力学），单个肌肉的工作（使用实验验证的EMG模型， to-力-输出）。具有类似性质的本体感受器的假设集合与之前记录的慢性器械动物的结果相比，内置在一个感官反馈模型中，小扰动。线性二次型控制器将被设计为一系列优化标准，这些标准对节能与各种运动学稳定性的措施。这些反馈矩阵和模型系统对外加扰动的响应将与对肌肉神经的电刺激的反应（待测量在跑步机行走期间，在长期使用仪器的猫中），来自其他研究人员关于机械扰动的反应站立姿势与本体感受器经脊髓投射电路.