握物受扰平衡恢复时上肢运动控制机理的实验研究

目的研究人手在握物受扰后的恢复过程以及整个过程中视觉对于神经肌肉控制系统的影响。方法在人手握物状态下，对所握物体施加干扰，记录上臂在恢复过程中的运动信号和肌电信号，对相关的运动和肌电信号参数进行分析，分别在有无视觉的两种情况下进行实验，对比实验结果。结果恢复平衡主要通过肢体的移动和肌肉的收缩完成。在无视觉的情况下恢复平衡反应时间有延迟，运动幅度加大。结论握物受扰后主要依靠上肢腕和肘关节运动和前臂的腕屈肌活动恢复平衡和抓紧状态。自身的感觉反馈是控制的主要信息源，视觉对于人体上肢恢复平衡有加快响应和减小运动幅度的作用。

Experimental Study on Motion Control of Upper Limb When Perturbation to Held Object

Objective To study the balance control of upper limb during perturbation by the object held in hand and the affect of vision for recovery, Method A perturbation was applied to the object held in hand,and the motion signal of the upper limb and the surface EMG signals of corresponding muscles were recorded, then the relationship of these signals were analyzed. The experiments were carried out with and without visual help, respectively. Result Balancing recovery was accomplished by motion of the upper limb and activities of corresponding muscles. It was found that the responses delayed and motion scale increased without visual help. Conclusion Balancing recovery from perturbation is accomplished by the movements of wrist, elbow joints and the activity of forearm flexor to keep the object held. The response of balancing recovery is mainly based on sensory feedback of upper limb. The effect of vision is to reduce response time and motion scale.