415 筋肉の動特性を考慮した神経・筋肉系の最適制御モデル

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This study presents an optimal control model of a neuromuscular system. First, dynamical and mechanical characteristics of a muscle are examined and muscle dynamics is illustrated. In addition, coactivation of a flexor and an extensor is also taken into consideration and a neuromuscular system is mathematically formulated. Second, the criterion characterizing human movements is defined by square sum of neural inputs and an optimal control model of a neuromuscular system is proposed and optimal trajectories in human arm movements are produced under varying conditions of target position. Finally, these trajectories are compared with the experimentally observed ones, and the proposed optimal control model is quantitatively evaluated.