義手制御系設計をめざしたヒト母指筋伸展時の張力応答の定式化

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The purpose of this study was to formulate the dynamic properties of the human flexor pollicis longus muscle (FPL), including short-latency stretch reflex, for a prosthetic hand controller. First, we measured the tension responses of the FPL during isometric contraction. The subjects were four healthy men. While the subject maintained constant isometric force (F_c) in the FPL, we applied a small ramp stretch to the thumb. We measured stretch length X(t), force F(t) and IEMGs (rectified and smoothed EMGs) of the FPL and the extensor pollicis longus (EPL) muscles. Experiments were repeated with various stretch lengths (35 ms, 4 mm : 50 ms, 4 mm ; 50 ms, 7 mm) and various levels of isometric force (2, 7.5, 15, 22.5, 30% of maximum voluntary contraction (MVC)). Next, we isolated the stretch length perturbation-evoked force attributed to the muscle and short latency stretch reflex F_v(t). We then identified the dynamics by using the Auto-Regressive eXogeneous (ARX) model, the input of which was X(t) and the output of which was F_v(t). We created a third-order ARX model by calculating AIC values. Parameters of the decided ARX model were estimated using a least squares approach. Finally, parameters (K, t_1, t_2) of the transfer function G(s), which were obtained from the ARX model, were calculated. An almost linear relationship was obtained between the gain K of G(s) and the constant isometric force (F_c). The range of t_1 and t_2 was determined by calculating the differences between the isolated forces F_v(t) and the calculated forces with the model F_v(t).
社団法人日本生体医工学会の論文
2005-03-10

義手制御系設計をめざしたヒト母指筋伸展時の張力応答の定式化

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