上肢運動の決定要素(1部生体を知る)

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Most daily motions of the upper extremities are performed in regular patterns in spite of the possibility of various motions under greater degrees of freedom. This fact causes us to expect the existence of some criteria for determination of unconscious motions. Clarifying the criteria would be useful not only to improve manufacturing operations and sport activities or to plan medical care for pathological motions, but also to design a controller for mechanical manipulators. In this paper, we assumed that the criteria depend on the internal energy expended by muscles and ligaments. Six energy elements such as visco-elastic energy were defined from the physiological characteristics of soft tissues. The total criterion was expressed by linear combination of the energy elements. The muscle forces involved in the energy elements were estimated by the computer simulation technique. The mathematical model of the upper extremity was constructed by four rigid segments connected by ball joints. Nineteen muscles were considered to control the segments. By using mechanical equilibrium equations of the link system, we can calculate joint moments by referring to measured joint motions. The joint moments must be exerted by muscle force. However, because of the lack of equilibrium equations between joint moments and muscle forces, we estimated the muscle forces by applying the minimal principle of the sum of the square errors between joint moments and muscle moments and between the estimated muscle force patterns and the measured electromyographic patterns. Three-dimensional joint motions were measured by two sets of infrared detective cameras. Free and restricted reach motions of eight persons were analyzed. Consequently, it was found that the viscosity element of soft tissues has great influence in determining the motion path. The result can be expressed in another way: that the unconscious motion path is determined to minimize the sum of the amplitude of joint angles because the motion time does not change so much among various paths. There are optimum values regarding velocity, direction and starting height. The optimum value of velocity is determined to minimize the muscle power element, and those of direction and starting height are affected by both the joint viscosity element and muscle power element. In these results, individual differences can be neglected. The criterion expressed by the resistance of joint and muscle viscosity is a new idea for motion determinants.
バイオメカニズム学会の論文
1986-09-25

上肢運動の決定要素(1部生体を知る)

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上肢運動の決定要素(1部 生体を知る)

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上肢運動の決定要素(1部生体を知る)