運動シナジーに基づくヒトの歩行シミュレーション

抄録

Recent studies suggest that kinematic synergy which includes muscle synergy and sensory feedback synergy is the way to solve the redundancy problem of body movement by performing mathematical analysis on electromyography data. However, it is difficult to clarify the mechanism of kinematic synergy only by measurement. The aim of this research is to build a 3-dimensional neuromusculoskeletal model based on kinematic synergy to perform a walking simulation. The musculoskeletal model is similar to a healthy adult and the neuronal model consists of 3 functions: the central pattern generator, which produces the feedforward signal to muscles based on muscle synergy, the sensory feedback synergy, which keeps the postural stability during walking and the phase resetting to shift the phase when heel contacts the ground. With this model, the gait can be reproduced as much as 3 cycles without the measurement data. Furthermore, the result also shows that the model can walk at different speeds by changing only 14 parameters.