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首页> 外文期刊>Applied bionics and biomechanics >What Strategy Central Nervous System Uses to Perform a Movement Balanced? Biomechatronical Simulation of Human Lifting
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What Strategy Central Nervous System Uses to Perform a Movement Balanced? Biomechatronical Simulation of Human Lifting

机译：中枢神经系统用来平衡运动的策略是什么？人体举升的生物机电模拟

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How does the central nervous system control the body posture during various tasks despite a redundancy? It's a well-known question existed in such fields of study as biomechanics and bioengineering. Some techniques based on muscle and torques synergies are presented to study the function which Central Nervous System uses to addresses the kinetic redundancy in musculoskeletal system. The human body with its whole numerous joints considered as a hyper redundant structure which caused to be seemed that it is impossible for CNS to control and signal such system. To solve the kinematic redundancy in previous studies it is hypothesize that CNS functions as an optimizer, such of that are the task-based algorithms which search to find optimal solution for each specific task. In this research a new objective function based on ankle torques during movement is implemented to guarantee the stability of motion. A 2D 5DOF biomechatronical model of human body is subjected to lifting task simulation. The simulation process implements inverse dynamics as major constraint to consider the dynamics of motion for predicted postures. In the previous optimization-based techniques which are used to simulate the human movements, the motion stability was guaranteed by a nonlinear inequality constraint which restricts the total moment arm of the links to an upper and lower boundary. In this method, there is no need to use this constraint. The results show that the simulated postures are normal and the predicted motion is performed completely balanced.
机译：尽管有冗余，中枢神经系统在各种任务期间如何控制身体姿势？这是在生物力学和生物工程学等研究领域中存在的众所周知的问题。提出了一些基于肌肉和扭矩协同作用的技术，以研究中枢神经系统用于解决肌肉骨骼系统动力学冗余的功能。人体具有众多关节，被认为是一种多余的结构，这似乎使中枢神经系统无法控制和发出信号。为了解决先前研究中的运动学冗余，假设CNS充当优化器，例如基于任务的算法，其搜索以找到针对每个特定任务的最佳解决方案。在这项研究中，基于运动过程中踝关节扭矩的新目标函数得以实现，以确保运动的稳定性。对人体的2D 5DOF生物机电模型进行提升任务仿真。仿真过程将逆动力学作为主要约束条件来考虑预测姿势的运动动力学。在先前用于模拟人体运动的基于优化的技术中，运动稳定性是通过非线性不等式约束来保证的，该约束将链接的总力矩臂限制在上下边界。在此方法中，无需使用此约束。结果表明，所模拟的姿势是正常的，并且所预测的运动是完全平衡的。

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