Analysis of Muscle Impedance Characteristics in Human Movements and Its Application to a Motor Rehabilitation Support System

本研究的目的是建立一种新的人体运动肌肉阻抗模型，并将其应用于残疾人物理康复支持系统的开发。研究结果总结如下：(1)采用二自由度线性电机系统和变阻抗控制方法，开发了一种新的阻抗训练系统。实验结果表明，正常人可以自主地控制自己的阻抗特性，而且控制精度很高。(2)利用开发的训练系统，分析了正常被试在训练时的肌肉阻抗特性。特别研究了任务对象的动态性对肌肉阻抗和脊髓反射通路敏感性的影响。(3)利用虚拟现实技术开发了虚拟体育系统。选择网球和空气曲棍球作为目标任务，测量正常人在虚拟运动过程中的手部阻抗。实验表明，受试者的手阻抗随任务环境的变化而变化。(4)利用开发的虚拟运动训练系统，对小脑疾病患者进行阻抗感知训练。实验结果表明，在阻抗训练过程中，患者会根据任务对象的阻抗特性改变手臂和手部的运动。这意味着阻抗感知和运动控制是高度相关的。

The purpose of this research is to develop a new muscle impedance model of human movements and apply it to the development of physical rehabilitation support system for the disabled. The obtained results throughout this research can be summarized follows:(1) A new impedance training system was developed using a linear motor system with two degrees of freedom and variable impedance control method. It was shown from experiments that the normal subjects can control voluntarily their impedance characteristics with high accuracy.(2) Using the developed training system, muscle impedance characteristics of the normal subjects was analyzed while training. Especially, effects of dynamic of the task objects to muscle impedance as well as sensitivity of spinal reflex pathway were examined.(3) A virtual sports system using the virtual reality technique was then developed. Tennis and air hockey were chosen as the target tasks, and hand impedance of the normal subjects was measured during virtual sports. It was show that the subjects change their hand impedance depending on the task environments.(4) Using the developed virtual sports training system, impedance perception training for patients with cerebellar disease were performed. From the experimental results, it was shown that the patients changed their arm and hand motions depending on the impedance properties of the task objects while the impedance training. This implies that impedance perception and motor control are highly related.