動物の筋配列による四肢先端の運動学的解析

概要

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Animals have various muscular as power souses and they, living in the gravitational environments, have very similar basic muscular arrangements in their muscular arrangements reflecting differences in their locomotive life styles. We have reported that the coordinating muscular activities among the three pairs of antagonistic muscles contributed to the output force direction control, in all round (360°) direction, the force/position control and the stiffness control at the endpoint of the extremities. In the present paper, relations between the differences in the muscular arrangements in animals and the differences in the characteristic differences in their locomotive styles were analyzed in terms of functional anatomy and of control engineering. The results obtained that the muscular arrangements in animals was reflected in their locomotive styles. All animals had the essential muscular arrangements to realize the force and the stiffness properties at the endpoint of the extremities.
1999-07-25