Command Trajectory of Fast Forearm Movements Estimated by Optimal Control Theory

最佳控制理論估測前臂快速運動命令軌跡

林宙晴(Chou-Ching K. Lin) ； 周晉一(Chin-Yi Chou) ； 朱銘祥(Ming-Shaung Ju)

《Journal of Medical and Biological Engineering》 21卷2期 (2001/06) Pp. 111-120

摘要

利用最佳控制理論與動態規劃，本文依兩種肘關節骨骼肌肉模型重建快速運動的命令軌跡，分別包含線性無反射與非線性反射肌肉現象。最佳化的目的是為了尋找一個命令軌跡能夠盡可能重現由實驗所獲得的運動軌跡。估測結果顯示線性無反射肌肉模型可以看到命令軌跡有三相的反應，而非線性反射肌肉模型只可以看到命令軌跡有兩相的反應，此外，命令軌跡亦可以看出由實驗所量測到肌電圖訊號的特性。實驗結果顯示利用最佳控制理論可以由關節角度軌跡重建出合乎現今運動控制觀念的命令軌跡。

關鍵字

最佳控制 ； 命令軌跡 ； 平衡點理論

並列摘要

Using optimal control theory and dynamic programming, we reconstructed the command trajectory of the fast elbow joint movement with two musculoskeletal models of the elbow joint, one with linear areflexic and the other with nonlinear reflexic muscle representation. The goal of the optimization was to seek a command trajectory that best reproduced the experimentally derived movement trajectory. The estimation results showed that the command trajectory using the model with linear areflexic muscle representation manifested the triphasic response, while the results using the model with nonlinear reflexic muscle representation showed only biphasic response. The calculated command trajectories capture the characteristics of the measured EMG. The results revealed that the optimal control theory could be used to reconstruct, from the joint angle trajectory, a command trajectory compatible with the currently accepted concept of motor control.

並列關鍵字

Optimal control ； Command trajectory ； Equilibrium point hypothesis