Verdaasdonk B W, Koopman H F J M, Helm F C T Van Der
Department of Bio-mechanical Engineering, Faculty of Engineering Technology, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands.
Neural Netw. 2006 May;19(4):388-400. doi: 10.1016/j.neunet.2005.09.003. Epub 2005 Dec 13.
Humans show great energy efficiency and robustness in rhythmic tasks, such as walking and arm swinging. In this study a mathematical model of rhythmic limb movement is presented, which shows that tight local coupling of Central Pattern Generators (CPGs) to limbs could explain part of this behavior. Afferent feedback to flexor and extensor centers of the CPG is crucial in providing energy efficiency by means of resonance tuning. Feedback of positional information provides resonance tuning above the endogenous frequency of the CPG. Integral feedback provides resonance tuning at and below the endogenous frequency. Feedback of velocity information is necessary to compensate for the time delay in the loop, coupling limb to CPG; without velocity feedback bi-stability occurs and resonance tuning is not possible at high movement frequencies. The concepts of energy efficient and robust control of rhythmic limb movements are also applicable to robotics. It is the first CPG model, which provides resonance tuning at natural limb frequencies above and below its endogenous frequency.
人类在诸如行走和摆臂等节律性任务中表现出很高的能量效率和稳健性。在本研究中,提出了一种节律性肢体运动的数学模型,该模型表明中枢模式发生器(CPG)与肢体的紧密局部耦合可以解释这种行为的一部分。CPG的屈肌和伸肌中心的传入反馈对于通过共振调谐提供能量效率至关重要。位置信息的反馈在内源性CPG频率之上提供共振调谐。积分反馈在内源性频率及以下提供共振调谐。速度信息的反馈对于补偿肢体与CPG之间回路中的时间延迟是必要的;没有速度反馈,就会出现双稳态,并且在高运动频率下不可能进行共振调谐。节律性肢体运动的能量高效和稳健控制概念也适用于机器人技术。这是第一个在其自然肢体频率高于和低于其内源性频率时提供共振调谐的CPG模型。