Flashner H, Beuter A, Arabyan A
Department of Mechanical Engineering, University of Southern California, Los Angeles 90089-1453.
Biol Cybern. 1988;58(2):91-9. doi: 10.1007/BF00364155.
The present study extends past work on modeling and control of stepping. The relationship between joint space kinematic data and routine motor control (i.e., open loop) during human stepping is investigated. A model of open loop stepping control using joint kinematics is described. Different functional approximations are employed to simulate experimental joint kinematic data collected on a subject stepping repeatedly over an obstacle. Results indicate that joint kinematics can be characterized by a small number of functions yielding a simple analytical description of open loop motor control. The different basis functions used and their associated coefficients reflected the qualitative behavior of joint trajectories thus allowing flexibility in the formulation of system kinematics. This approach provides a tool to study movement pathologies and movement development by identifying the basis functions governing the kinematics of motion and their associated coefficients. The model presented here is helpful in studying the segmentation of multiarticular movements into their elementary components by analytically modeling the discrete organization of motor behavior.
本研究扩展了以往关于步行建模与控制的工作。研究了人体步行过程中关节空间运动学数据与常规运动控制（即开环控制）之间的关系。描述了一种使用关节运动学的开环步行控制模型。采用不同的函数逼近方法来模拟在一名受试者反复跨过障碍物步行时收集到的实验关节运动学数据。结果表明，关节运动学可以用少量函数来表征，从而对开环运动控制给出简单的解析描述。所使用的不同基函数及其相关系数反映了关节轨迹的定性行为，从而在系统运动学的公式化方面具有灵活性。这种方法提供了一种工具，通过识别控制运动运动学的基函数及其相关系数来研究运动病理学和运动发育。这里提出的模型有助于通过对运动行为的离散组织进行解析建模，将多关节运动分割成其基本组成部分。
