广东工业大学学报 ›› 2019, Vol. 36 ›› Issue (05): 25-32.doi: 10.12052/gdutxb.190036

• 综合研究 • 上一篇    下一篇

预期姿势调节对协作任务运动姿势控制的影响

曾涵湄, 黄之峰, 林中秀, 寇小东, 章云   

  1. 广东工业大学 自动化学院, 广东 广州 510006
  • 收稿日期:2019-03-11 出版日期:2019-08-21 发布日期:2019-08-06
  • 通信作者: 黄之峰(1984-),男,副教授,博士,硕士生导师,主要研究方向为仿人机器人、柔顺关节机器人、智能人机交互.E-mail:zhifeng@gdut.edu.cn E-mail:zhifeng@gdut.edu.cn
  • 作者简介:曾涵湄(1995-),女,硕士研究生,主要研究方向为智能人机交互、人机协作.
  • 基金资助:
    国家自然科学基金青年基金资助项目（51605098）；广东省自然科学基金资助项目（2016A030310350）

An Investigation into Human Anticipatory Postural Adjustments on Cooperative Task Motion Control and Posture Control

Zeng Han-mei, Huang Zhi-feng, Lin Zhong-xiu, Kou Xiao-dong, Zhang Yun   

  1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2019-03-11 Online:2019-08-21 Published:2019-08-06

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摘要： 研究人体预期姿势调节机制在双人双臂协作任务中应对冲击干扰的作用，为人机协作提供理论基础.10名男性参与实验，通过对实验对象进行视听信息屏蔽的方式控制是否提前引发肌肉的预期姿势调节（anticipatory postural adjustments，APAs），比较实验者在不同条件下进行双人双臂协作接取重物的表现.实验中同步采集重物姿态信息及人体手臂的表面肌电信号（SEMG）信号，计算实验者肌肉的预期姿势调节激活时间及重物偏转程度，并分析两者的关系.在双人双臂协作接取重物的任务中，双方均存在视听信息与双方都屏蔽或只屏蔽一方的条件相比，接取时重物产生的偏转程度更小，且存在显著性差异（p<0.001）.数据显示，视听信息可以有效引发肌肉的APAs，而当协作双方相关肌肉APAs被同时引发时，应对冲击后的姿势稳定控制表现最好.当协作双方同时被引发时，预期姿势调节作用对双人双臂接取重物的姿势平衡控制起到积极作用，获取APAs的特征信号并提前控制将有利于高速运动下的人机协作.

关键词: 预期姿势调节, 姿势控制, 运动控制, 表面肌电图, 协作任务

Abstract: Aiming to study human anticipatory postural adjustments that respond to the external interference impacts, and enabling the possibility of theoretical guidance for human-robot interaction, ten male students are selected to participate in this study and complete human-robot interaction experiments with heavy shock interferences, responding without visual and auditory information. And the heavy object posture information and the SEMG signal of the human arm are collected synchronously to calculate the APAS activation time and heavy object deflection degree of the experimenters' muscle. The APAS activation time is considerably greater in visual information and auditory information (p<0.001). APAS not only guarantees the heavy object deflection degree decreases significantly, but may also be important in the stable motion collaborative posture control task. The visual information and auditory information lead to premature muscle APAS and make motion posture control more stable and safer in the mechanism of collaborative tasks.

Key words: APAs (anticipatory posture adjustments), postural control, motion control, SEMG (surface electromyography), collaborative task

中图分类号: 

  • TP242
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