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中文摘要：
中枢模式发生器可产生节律性运动.目前的中枢模式发生器（CPG）建模研究可以很好地表现CPG的自激行为,但对于人脑信号的调节作用没有讨论.为了体现大脑皮层信号对于CPG网络的调控性,基于Matsuoka神经振荡器的CPG模型,对原有模型中输入刺激与网络内部参数的关联进行了复杂构建,使得模型本身各参数随输入信号的变化而变化,增强了输入信号对于网络自身的影响,令CPG网络不仅仅产生自激状态,同时能够产生自我调节的运动形式,从而体现出大脑信号的调控作用.数值模拟计算结果表明,修正后的模型随着输入刺激的变化可以产生不同模式及不同频率的运动形式,且各不同形式之间可以相互转换,从而在理论上很好地反映出大脑信号在步态节律运动过程中对步态的模式和频率起到了一定的调节作用,实现了各种步态运动之间的行为转换及恢复的功能,从理论上实现了自发节律与大脑调节性节律运动的共存性,做到大脑信号与CPG模型的统一.
英文摘要：
The rhythmic movement was a spontaneous behavior generated by central pattern generator（CPG）.At present,the CPG model only showed the spontaneous behavior,it did not refer to the instruction regulation role of cerebral cortex.A revised model based on Matsuoka Neural oscillator theory was presented to better show the regulation role of cerebral cortex signal to CPG neuronal network.The complex interaction between input signal and other parameters in CPG network was established,making the every parameter of CPG itself vary with the input signal.It enhanced the effect of input signal to CPG network to make the CPG network express the self-regulation movement state instead of being limited to the spontaneous behavior,reflecting the regulation role of cerebral cortex signal.The numerical simulation showed that the revised model could generate various movement forms with different modes and frequencies,and their interchanges.It was theoretically revealed that the cerebral cortex signal could regulate the mode and frequency of gait in the course of gait movement.
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