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中文摘要：
阻抗控制对于人体运动稳定性，尤其在进行不稳定任务时有着不可替代的贡献。本文由屈伸肌活性在实验测量和理论计算的误差得到启发，提出了即使在手臂平面自由运动中，肌肉的共同收缩对阻抗也有贡献的观点，运用神经肌肉骨骼模型及最优控制方法，计算出手臂运动轨迹，运动部分代人原有模型得到相似结论，把公式中的相互作用项解释为阻抗贡献，并综合多篇相关文献数据，推算出共同收缩阻抗，修正了旧有模型剐度椭圆单调变化的不足，通过仿真得到与实验基本一致的刚度椭圆图，并附加得出前后自由运动时手臂的共同收缩比左右运动时的幅度要大，对总体刚度椭圆的贡献更多”。
英文摘要：
Impedance control serve as an important and independent role in motor control, especially during operating unstable tasks. Enlightened by the disparity between the experimental and theoretical calcu- lations of flexion and extension muscle activities, the co-contraction contributes to impedance control were proposed even during free upper limb planar movement. Simply using software can calculate the trajectory and then taking the motor part into the original model could obtain the similar result in literature. On the other side, the interacting iterm could be interpreted as the source signal for co-stiffness. Therefore, the proposal above, implemented with neuro-muscle skeleton model and optimal control tool, as well as synthesize the literatures, the stiffness ellipses which are consistent with experimental results and avoid monotonous changes in ellipses simulated from the original model. The contribution of co-contraction contributes more during movement from forward to center than from left to right.
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