Reinkensmeyer David J, Akoner O, Ferris Daniel P, Gordon Keith E
Department of Mechanical and Aerospace Engineering and Department of Biomedical Engineering, University of California at Irvine, CA 92617, USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:2129-32. doi: 10.1109/IEMBS.2009.5333978.
Recent experimental evidence suggests that a fundamental property of the human motor system is that it "slacks"; that is, that it continuously attempts to decrease levels of muscle activation when movement error is small during repetitive motions. This paper reviews several computational models of slacking, and discusses implications of slacking for the design of robotic orthoses. For therapeutic applications of robotic orthoses, slacking may reduce human effort during rehabilitation training, with negative consequences for use-dependent motor recovery. For assistive applications of robotic orthoses, slacking may allow the motor system to learn to take advantage of force amplification provided by an orthosis, with positive consequences for human energy efficiency.
最近的实验证据表明，人类运动系统的一个基本特性是它会“松弛”；也就是说，在重复运动中，当运动误差较小时，它会持续尝试降低肌肉激活水平。本文综述了几种关于松弛的计算模型，并讨论了松弛对机器人矫形器设计的影响。对于机器人矫形器的治疗应用，松弛可能会减少康复训练期间的人力，但对依赖使用的运动恢复有负面影响。对于机器人矫形器的辅助应用，松弛可能会使运动系统学会利用矫形器提供的力放大作用，对人体能量效率有积极影响。
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