THE MECHANICS OF MULTI-JOINT POSTURE AND MOVEMENT CONTROL
THE MECHANICS OF MULTI-JOINT POSTURE AND MOVEMENT CONTROL
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DOI：
10.1007/bf00355754
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发表时间：
1985-01-01
影响因子：
1.9
通讯作者：
HOGAN, N
中科院分区：
文献类型：
--
作者：
HOGAN, N
肌肉力量对肌肉长度的依赖性产生了“弹簧状”行为，该行为已被证明在单关节姿势和运动的执行中起作用。本文扩展了这一概念，并考虑了神经，肌肉和骨骼系统的表观力学行为对多自由度姿态和运动的控制和协调的影响。提出了“类弹簧”行为的严格定义。从它的数值量化，实验测试的弹簧般的行为制定。结果表明，如果一个肢体的稳态力-位移行为不是弹簧状的，这只能是由于肌间反馈的作用，而不能是由于肌肉的内在属性。描述了多自由度系统类弹簧行为的方向性。多关节肌肉协同协同激活的独特方式可以调节多个自由度系统的弹簧状行为的方向特性进行解释。姿势行为的动态方面也被考虑。机械阻抗的概念是作为一个严格的动态概括的姿势僵硬的肢体。系统的惯性行为的特征在于其移动性。与刚度或阻抗一样，在多自由度情况下，它具有方向性。肌肉骨骼系统的明显的运动冗余可以用来修改其动态行为的方式进行解释。而一个单一的肢体段的惯性行为是不可修改的，它示出了一个多自由度系统的明显的惯性行为可以通过重新定位关节调制。
The dependence of muscle force on muscle length gives rise to a "spring-like" behavior which has been shown to play a role in the execution of single-joint posture and movement. This paper extends this concept and considers the influence of the apparent mechanical behavior of the neural, muscular and skeletal system on the control and coordination of multiple degree of freedom posture and movement. A rigorous definition of "spring-like" behavior is presented. From it a numerically quantifiable, experimental test of spring-like behavior is formulated. It is shown that if the steady-state force-displacement behavior of a limb is not spring-like, this can only be due to the action of inter-muscular feedback, and can not be due to intrinsic muscle properties. The directional character of the spring-like behavior of a multiple degree of freedom system is described. The unique way in which synergistic coactivation of polyarticular muscles may modulate the directional properties of the spring-like behavior of a multiple degree of freedom system is explained. Dynamic aspects of postural behavior are also considered. The concept of mechanical impedance is presented as a rigorous dynamic generalisation of the postural stiffness of the limb. The inertial behavior of the system is characterised by its mobility. As with the stiffness or impedance, in the multiple degree of freedom case it has a directional property. The way in which the apparent kinematic redundancy of the musculo-skeletal system may be used to modify its dynamic behavior is explained. Whereas the inertial behavior of a single limb segment is not modifiable, it is shown that the apparent inertial behavior of a multiple degree of freedom system may be modulated by repositioning the joints.