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

• 奥野 竜平

  大阪大学大学院情報科学研究科バイオ情報工学専攻

• 吉田 正樹

  大阪電気通信大学医療福祉工学部医療福祉工学科

• 赤澤 堅造

  大阪大学大学院情報科学研究科バイオ情報工学専攻

書誌事項

タイトル別名

• Formulation of Tension Response during Human Thumb Muscle Extension for a Prosthetic Hand Controller
• ギシュ セイギョケイ セッケイ オ メザシタ ヒト ボシキン シンテンジ ノ チョウリョク オウトウ ノ テイシキカ

抄録

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, t₁, t₂) 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 t₁ and t₂ was determined by calculating the differences between the isolated forces F_v(t) and the calculated forces with the model F_v^*(t).

収録刊行物

• 生体医工学

  生体医工学 43 (1), 133-139, 2005

  公益社団法人 日本生体医工学会

キーワード

• muscle
• stretch reflex
• ARX model
• prosthetic hand

詳細情報

• CRID: 1390001205267695360
• NII論文ID: 110004012645
• NII論文ID: 130004493901
• NII書誌ID: AA11633569
• DOI: 10.11239/jsmbe.43.133
• ISSN: 18814379
• ISSN: 1347443X
• NDL書誌ID: 7329539
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7329539
• Web Site: https://search.jamas.or.jp/link/ui/2005235087
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可