【作者】 杨义勇； 王人成； 金德闻； 黄昌华；

【Author】 Yang Yi Yong, Wang Ren Cheng,Jin De Wen, et.al.Dept.of Precision Instruments,Tsinghua University, Beijing, 100084

【机构】 清华大学精密仪器系康复工程中心；

【摘要】 目的 研究人手抓取过程中,拇指—食指—中指等多手指之间的运动协调模式.方法10个健康人按照指令在水平面从三个不同起点位置自主去做抓取固定柱销的活动,柱销分别放置在三个可见和不可见位置;应用人手运动三维图像实时检测系统记录手指各个关节、指尖的运动轨迹,并求解它们在运动过程中的关节速度、加速度等运动学参数,运用主元分析法研究多手指之间的运动协调模式.结果 食指、中指运动过程中指尖、关节的空间轨迹具有相对固定的结构模式,反映人手在慢速、快速运动中均具有普遍相似的协调规律;人手运动的速度变化、姿态调整与外界空间的状态和所需完成的操作任务有较强的相关性.同时,人手抓取的姿态角与伸达运动的方向角有近似的线性相关,目标物的放置位置对人手抓取的姿态角有影响.结论 多手指之间存在伸达运动和接触抓取两种协调模式(协调元),协调元主要反映运动幅度(D)、运动时间(T)和外部任务需求如外力大小(F)三个参数及其组合规律.协调元控制策略为研究人手的协调规律和智能假肢冗余运动协调控制提供了新的理论和方法.更多还原

【Abstract】 Objective The aim of the study was to test synergetic patterns of multi - fingers during grasping movement. Method Ten healthyhuman subjects were instructed to reach and grasp the objects placed at different visual and unvisual locations, with movements starting from several initial handpositions. The extent and direction of the hand and finger trajectory were recorded with special human movement image tracking system giving 3D position and orientation information. The temporal structure of the hand and fingers actions was assessed for computing interlimb synchronization and temporal correlation in reaching and gasping the goal. Result There is a relatively invariant structure pattern in the spatial orbit of index and middle fingers movement; the relativity between the change of the fingers movement velocity, posture adjustment and the condition of external task environment existed obviously during grasping movement. In addition, the hand azimuth for grasping was linearly correlated with the direction of the reaching movement; target location can influence the changes of hand orientation. Conclusion We suggest that proper coordination between the hands and fingers necessarily imply that the both synergies of reaching and grasping are used in reaching to grasping movements. A multi - fingers synergy is a central mechanism which reflects a relation among the combination of the three parameters of amplitude(D) and the timing constrainst(T) on the movement, as well as expected external transient forces(F).更多还原