On the Relationship Between Muscle Synergies and Redundant Degrees of Freedom in Musculoskeletal Systems.

摘要: It has been suggested that the human nervous system controls motions in task (or operational) space. However, little attention given to separation of control task-related and task-irrelevant degrees freedom. Aim: We investigate how muscle synergies may be used separately redundant freedom a computational model. Approach: generalize an existing motor model, assume spaces have orthogonal basis vectors. This assumption originates from observations tightly variables, leaves rest uncontrolled. In other words, controlling variables one space does not affect space; thus, actuations must two spaces. implemented this model by selecting produce force vectors with directions Findings: Our experimental results show orthogonality performs well reconstructing activities measured kinematics/dynamics Specifically, we found approximately 70% variation activity can captured assumption, while allowing efficient Implications: The developed is viable tool real-time simulations musculoskeletal systems, as model-based bio-mechatronic where computationally representation motion controller needed.