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فرضيه ها و استراتژيهاي حركات-فصل سوم
Centeralism 1-3
Prepheralism 2-3
Motor Program 3-3
Equilibim Hypothesis 4-3
Impedance Control 5-3
حركتهاي متناوب و راه رفتن-فصل چهارم
ويژه گيهاي راه رفتن1-4
Cenral Pattern Generator 2-4
ياد گيري حركت و مدلهاي ارائه شده براي حركت-فصل پنجم
Motor Learning 1-5
مدلهاي ارائه شده2-5
Internal Model 1-2-5
Smith Predictor 2-2-5
Model Predictive Control 3-2-5
معلوليت و بيماريهاي حركتي-فصل ششم
FES 1-6
Parkinson 2-6
Huntington 3-6
ALS 4-6
References:
• 1-Neurological Control Systems: Studies in
Bioengineering ,Stark L, 1968• 2-Muscle Alive, Basmajian JV
• 3- The Neural Basis of Motor Control, Brooks, V. B.,
(1986). Oxford Univ. Press.
• 4-Multiple Muscle Systems, M. Winters and S. L-Y. Woo
(ed.), Springer-Verlag (1990)
• 5-Motor Control: Theory and Practical Applications by
Anne Shumway-Cook, Marjorie H. Woollacott
• 6- Motor Control And Learning: A Behavioral
Emphasis, Fourth Edition by Richard Schmidt, Tim Lee
• 7- Motor Learning and Performance by Richard A.
Schmidt, Craig A. Wrisberg
• 8- The Computational Neurobiology of Reaching and
Pointing By Reza Shadmehr and Stiven P. Wise, MIT
Press, 2005
HUMAN MOTOR CONTROL SYSTEM
Overview
MOTOR BEHAVIORS CLASSIFIED ON FUNCTIONAL
PROPERTIES
Movements: brief,discrete, unitary muscle activities,
limited to single parts
Acts: complex, sequential behaviors, goal-oriented,
different body parts included (action patterns)
more restricted CNS regions that ctrl movements than
acts
QUESTION OF BASIC UNITS OF MOVEMENTS
Reflexes : “simple, highly stereotyped and unlearned
responses to external stimuli”. Their magnitude related
to stimulus intensity.
Spinal cord roots: dorsal contain sensory fibers, ventral
contain motor fibers
Some reflexes short pathways in spinal cord linking
dorsal & ventral roots, others longer loops (spinal cord
interconnections or to the brain)
Reflexes as basic units of movement (Sherrington,
early 20th century)
BUT: Speech as ordered stimulus-response units
problematic
So...
MOTOR PLANS/PROGRAMS
complex movements & acts produced and
controlled by set of commands to muscles,
established before onset. Feedback on execution
THE CONTROL SYSTEMS VIEW
Machine design vocabulary: accuracy and speed
criteria
Closed-loop and Open-loop ctrl mechanisms to
optimize performance
CLOSED-LOOP CTRL MECHANISMS
continuous feedback from controlled system to
controller (e.g. driving)
slow, sustained movements (ramp/smooth)
accuracy & flexibility at speed expense
OPEN-LOOP CTRL MECHANISMS
activity preprogrammed
sensor measured output(no external form of feedback
rapid responses -ballistic movements (e.g. throwing a
fastball)
no feedback/ error reduction: anticipation (prior
learning)
MOTION ANALYSIS & MEASUREMENT
photographic, computer graphic techniques
EMG (electromyography):
recording muscle electrical activity
fine needle electrodes (skin/muscle)
measure contraction involved in activity
EMG
EMG
THE NEUROBIOLOGICAL VIEW
1 skeletal system & muscles: movements possible
2 spinal cord:
a)ctrl skeletal muscles in response to sensory info
(reflexes)
b) implementation of motor commands
3 brainstem:
integration & relay of motor and sensory info from
brain & spinal cord and in reverse, respectively
4 primary motor cortex (M1):
motor commands initiation
THE NEUROBIOLOGICAL VIEW ctnd
5 premotor cortex:
programs levels of motor cortical processing
6 basal ganglia & cerebellum:
modulate activities of hierarchically organized
motor ctrl systems
Limbic System
Highest
Level
Need
Associative Cortex
Plan
Cerebellum
Motor Cortex
Basal Ganglia
Middle
Level
Motor Program
Spinal Cord
Musculo-Skeletal
System
Movement
Lowest
Level
VOLUNTARY MOVEMENTS vs REFLEXES
VOLUNTARY
REFLEXES
purposeful tasks
stereotyped stimulus-response
relationship
open to experience/learning
Internally generated (potentially)
dissociated stimulus aspects :
informational content-capacity to
trigger movement (in higher motor
system’s levels)
environmentally triggered
stimulus aspects linked
organized in spinal & brain stem
circuits in response to
somatosensory, vestibular stimuli
MUSCULAR CTRL OF ACTION OF SKELETAL
SYSTEM
muscles generate force by contraction
springlike properties influence timing & forces generated
Connected to bones by tendons/ attachment indicative of
mediated movement
reciprocal arrangements around joints (flexion/extension)
(e.g. arm biceps/triceps)- antagonists & synergists (act
together)
coordinated action around joint might require set of
motoneurons excited the antagonistic set inhibited
Limb locked in position by contraction of opposed muscles
body posture maintenance, movement around joint, other
muscles not act on skeleton (abdomen contraction)
MUSCLE TYPES
smooth (stomach): contractions regulated by
autonomic system
Skeletal: under voluntary control
[Muscle fibers overlapping filaments(made of actin &
myosin) give the striped appearance
M.fibers : single large cells with many nuclei (thousands
compose a muscle)
Contraction increases overlap(myosin binds to actin,
filaments slide past one another)-length shortens]
MUSCLE FIBERS TYPES
1) fast : for quick, accurate not maintained movement
(e.g. extraocular muscles composed of those)
2) slow : resiliency to fatigue (posture maintenance)