MODELING OF NERVE-MUSCULOSKELETAL MECHANISMON FINGER GRASP SYSTEM FOR STABILITY CONSIDERATION OF BILATERAL MANIPULATOR

摘要

In this study, a mathematical model of the human finger grasp system was proposed on the basis of physiological findings as part of studies on the force feedback micromanipulator. Specifically, we considered the nerve-musculoskeletal control system of the fingers to be a mixed system of a length-control system using the muscle spindle and a tension-control system using the tendon organ. In the field of physiology, the former is known as stretch reflex involving the reflex pathway of reciprocal antagonist inhibition, and the latter as tendon organ reflex involving the connection of group Ib fibers into the spinal segment. We proposed model of how these two reflex systems are mingling. Then, the model was evaluated through an experiment. The results revealed that the model in this study can reproduce the operation of the finger more faithfully than the conventional compliance model for fingers. However, the method for determining the parameters of the model has yet to be established.