本文選題：神經運動控制　切入點：建模與仿真　出處：《上海交通大學》2012年碩士論文　論文類型：學位論文

【摘要】：姿勢的穩(wěn)定性在上肢的運動行為中是非常重要的,因為神經運動系統(tǒng)時刻都面臨著內部或者外部的不穩(wěn)定因素的干擾。剛度是一個常常用來刻畫上肢姿勢穩(wěn)定性的物理量,它由三個部分組成:內部主動分量、被動分量、和反射引起的剛度。反射對剛度有重要的貢獻,前面的實驗已經證明,由反射活動產生的剛度可以根據(jù)運動任務的特點和環(huán)境做出相應的改變,改變的最終目的都是通過增大剛度來減小不穩(wěn)定性。然而,受技術限制,實驗方法至今不能對反射活動對上肢端點剛度的影響方式這一問題做出深入的研究。本文中,我們在一個已經建好的開環(huán)的虛擬上臂模型的基礎上加入脊髓反射網絡模型,完成了一個閉環(huán)的虛擬上臂模型。用這兩個模型進行的仿真實驗可以幫助我們將反射活動引起的剛度分離出來進行研究。為了使仿真更接近真實情況,在模型的控制信號中加入了隨機噪聲。本研究中采用和實驗方法相似的加入干擾力的方法來估計上肢端點剛度,上肢端點剛度用剛度橢圓表示。另外一個漂移橢圓用來表示上肢端點在神經噪聲影響下的分布范圍。用開環(huán)和閉環(huán)模型分別做14組仿真實驗。實驗結果顯示,反射活動可以使剛度的幅度平均增大18.37%,這個和實驗方法的估計值一致。它還可以使漂移橢圓的幅度平均減小35%。同時,剛度橢圓和漂移橢圓的形狀和方向不發(fā)生變化。這說明前向控制信號決定上臂的阻抗特性,反射只是起到增大阻抗的幅度的作用。另外,本文還對反射增益值對上臂的穩(wěn)定性的影響進行了研究,結論是牽張反射的增益最容易引起不穩(wěn)定,腱反射的增益最不容易引起不穩(wěn)定。
[Abstract]:The stability of posture is very important in the movement behavior of upper limb, because the neural motor system always faces the disturbance of internal or external unstable factors. Stiffness is a physical quantity which is often used to describe the stability of upper limb posture. It consists of three parts: the internal active component, the passive component, and the stiffness caused by reflection, which makes an important contribution to stiffness, as has been demonstrated by previous experiments. The stiffness generated by the reflection activity can be changed accordingly according to the characteristics of the motion task and the environment. The ultimate purpose of the change is to reduce the instability by increasing the stiffness. In this paper, we add a spinal cord reflex network model based on an open loop virtual upper arm model. A closed loop virtual upper arm model is completed. The simulation experiments with these two models can help us to separate the stiffness caused by the reflection activities. In order to make the simulation more close to the real situation, Random noise is added to the control signal of the model. In this study, the stiffness of upper extremities is estimated by adding interference force similar to the experimental method. The stiffness of upper extremities is expressed by stiffness ellipse. Another drift ellipse is used to describe the distribution range of upper extremities under the influence of neural noise. Fourteen groups of simulation experiments are done with open loop and closed loop models respectively. The experimental results show that, The reflection activity can increase the stiffness amplitude by 18.37 on average, which is consistent with the experimental method. It can also reduce the average amplitude of the drift ellipse by 35 percent. The shape and direction of the stiffness ellipse and the drift ellipse do not change. This indicates that the forward control signal determines the impedance characteristics of the upper arm, and the reflection only increases the amplitude of the impedance. The effect of reflection gain on the stability of upper arm is also studied. It is concluded that the gain of stretch reflex is the most likely to cause instability, and the gain of tendon reflex is the least to cause instability.
【學位授予單位】：上海交通大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：R318.0

【共引文獻】

相關期刊論文 前1條

1 付春江;王如彬;;手臂屈伸運動中上位最優(yōu)控制對外部速度力場的補償適應[J];中國生物醫(yī)學工程學報;2010年04期

相關博士學位論文 前2條

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相關碩士學位論文 前1條

1 王穎;基于中樞模式發(fā)生器的下肢功能性電刺激康復系統(tǒng)設計與應用[D];上海交通大學;2012年

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本文編號：1609035