2P1-G02 筋の生体力学的特性を考慮した神経筋骨格ネットワークのモデル化及び同定(脳科学・神経科学とロボティクス)

概要

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In this paper, we build a whole-body neuromusculoskeletal network model including somatic reflex, and identify its parameters through non-invasive measurements and statistical analysis. Our neuromuscular model consists of two parts. The first part models the neuromuscular network to represent the relationships between spinal nerve signals and muscle activities, which are then converted to muscle tensions using a physiological muscle dynamics model. The second part includes the feedback loops from muscle spindles and Golgi tendon organs to spinal nerves that represent the somatic reflex using muscle length, velocity, and tension information. We demonstrate the consistency of the model by showing that a forward dynamics simulation of somatic reflex yields a motion similar to the actual response of human.
一般社団法人日本機械学会の論文
2008-06-06