以下資料是本課程的綱要,以及一個更詳細的講座綱要樣本。
These notes provide an overview of the entire course in outline form. A more detailed sample lecture outline is also included.
課程
Course Overview
引言
Introduction
第一期:哪些受控制?
Issue 1: What is Controlled?
- 橫紋肌(640塊)
Striated muscles (n=640)
- 肌腱
Tendons
- 骨骼
Bones
- 關節
Joints
- 軟組織
Soft tissue
- +平滑肌
+ Smooth muscles
- +腺體
+ Glands
自主運動和不自主運動的差別:
Distinction Between Voluntary and Involuntary Movements:
- 反射
Reflexes
- 舉例:膝反射(牽張反射)
Example: patellar reflex (myotatic reflex)
- 膝反射是不自主的嗎?
Is a knee jerk not voluntary?
- 反射調控
Modulation of reflexes
- 手互扣外拉手法
Jendrassik maneuver
- 反射抑制
Suppression of reflexes
外部表現
External:
第二期:神經系統所使用的提示線索
Issue 2: Cues Used by the Nervous System
- 反射
Reflexes
- 舉例:膝跳反射(牽張反射)
- 膝反射是不自主的嗎?
Is a knee jerk not voluntary?
- 反射調控
Modulation of reflexes
- 手互扣外拉手法
Jendrassik maneuver
- 反射抑制
Suppression of reflexes
外部表現:
External:
- 視覺
Visual
- 聽覺
Auditory
- 觸覺/壓力
Touch/Pressure
- 痛覺
Pain
- 重力
Gravity
- 受器
Receptors
- 嗅覺
Olfactory
內部表現:
Internal:
- 本體感受器
Proprioreceptors
- 肌肉、腱、系帶和韌帶內的感受器
Receptors in muscles, tendons, fascia and ligaments
- 獲得性觸發
Learned triggers
- 刺激 反應
S R
- 非條件化刺激 非條件化反應
UCS UCR
- (內在刺激 + 非條件化刺激)n 內在刺激 內在反應
(Si + UCS)n Si Ri
- 意圖
Intention
- 認知控制
Cognitive Control
第三期:控制運動的神經系統所用到的提示
Issue 3: Cues Used by the Nervous System to Control Movements
- 感覺運動、記憶術的和認知
Sensorimotor, mnemonic, and cognitive
- 語言系統的例子
Example of the language system
第四期:分析層次
Issue 4: Levels of Analysis
層次I:
Level I:
- 情感/認知
Emotion/Cognition
- 書寫運動系統
Grapho-Motor System
- 語言運動系統
Motor-Speech System
- 聽覺系統
Auditory System
- 視覺系統
Visual System
- 寫說聽讀
Writing Speaking Hearing Reading
- 公式表述
Formulation
語言系統:
Language System:
- 工作
Working
- 記憶
Memory
- 理解
Comprehension
- 運動控制的序列模型
Serial model of motor control
- 運動控制的序列模型所需的計算
Computations required by serial model of motor control
- 前饋/反饋控制
Feed-forward / feedback control
第五期:計算什麼和如何計算?
Issue 5: What is Computed and How?
運動控制的序列模型:
Serial Model of Motor Control:
運動學:
Kinematics:
- 位置的改變,比如,肢體隨時間進行位置改變。可以用關節角度變化的時間依賴性來定義。
Change in position, for example, of limb over time. Could specify in terms of timedependent changes in joint angle.
動力學:
Dynamics:
- 運動相關力的形式– 關節力矩
Patterns of forces associated with the movements – joint torques.
- 假設你看見並確定了一個物體和身體之間的相對位置,要拿到它,就需要計算:
Assume you visually specify object position with respect to the body. To reach it, is then necessary to compute:
- 反向運動學:計算手指接觸物體時的關節角度
Inverse kinematics: Compute the joint angle to get the finger to the target.
- 反向動力學:假定已知物體的位置和運動學後,計算將手臂伸到物體所需的力量
Inverse dynamics: Given desired target position and kinematics, compute the forces needed to get the arm there.
- 運動控制序列模型所需的計算
Computations required by serial model of motor control
- 前饋/反饋控制
Feed-forward / feedback control
- 舉例:伸手拿某物體
E.g. touch X
- 頭部的眼球
Eye in head
- 軀體上的頭
Head on trunk
- 軀體上的手臂
Arm on trunk
- 手臂關節和手
Arm joints / hand
- 以自我為參照點
Egocentric
- 中心掃描
Center scan
- 視網膜拓撲圖
Retinotopic
- 以物體為基礎的
Object centered?
第六期:感覺運動控制的空間座標架構
Issue 6: Spatial Coordinate Frames Used for Sensorimotor Control
- 大腦皮層
Cerebral cortex
- 基底核
Basal ganglia
- 小腦
Cerebellum
- 腦幹
Brainstem
- 脊髓
Spinal cord
第七期:運動控制相關的腦區有哪些?
Issue 7: What Brain Regions are Involved in Motor Control?
- 刺激
Stimulation
- 切除/人類臨床病理相關
Ablation / human clinicopath correlations
- 連結的解剖
Anatomy of connections
- 動物研究
Animal studies
- 反射
Reflexes
- 運動
Locomotion
- 行為模式
Behavioral patterns
- 以基因為基礎的研究
Gene-based studies
第八期:研究運動控制用到了哪些技術?
Issue 8: What Techniques are Used to Study Motor Control?
- 自由度問題
Degrees of freedom problem
- 行為的序列順序
Serial order of behavior
- 感覺/知覺運動轉換
Sensory / perceptual motor transform
- 運動相等量
Motor equivalence
- 運動學習和可塑性
Motor learning and plasticity
- 高階控制:認知、動機
Higher order control: cognition, motivation
- 計算模型
Computational models
第九期:本領域內的挑戰
Issue 9: Challenges for the Field
自由度問題:
Degrees of Freedom Problem:
- 1DF
- DF
- DF 手腕的3DF
DF 3DF at wrist
- 2DF
自由度問題:
Degrees of Freedom Problem:
- 事先制訂計畫
Plan ahead
- 使肌肉痙攣最少 (da/dt)
Minimize jerk (da/dt)
- 內建的同步 (例如,「協同運動」)
Built-in synchronies (e.g. “associated movements”)
- 「難度太大選擇放棄」 (Alexander + Crutcher)
“Too complicated so can’t be done so we don’t do it” (Alexander + Crutcher)
- 終點計算和軌跡計算
End point calculations vs. trajectory calculations
自由度問題的可能解決方案:
Possible Solutions to the Degrees of Freedom Problem:
- 講話
Speech
- 複雜動作
Complex actions
- 碗櫥中的牛奶
Milk in cupboard
- 電冰箱中燕麥盒子
Cereal box in fridge
- 協同構音 [編:下一個字的音影響到其一個字的尾音,意指再前一個動作結束前下一個作已經開始做準備]
Co-articulation
- 手指移動 –並非依照需要打出的字母順序而動作——群指動作
Fingers move ahead – not in order of letters to be typed – as in “an epic”
- 模組性?
Modularity?
- 塊狀?
Chunking?
連續有序的動作範例:
Examples of Serial Order of Behavior:
- 來源:Rosenbaum, D.A. (1991) 人類運動控制 紐約,論著,第16頁
Source: Rosenbaum, D.A. (1991) Human Motor Control. New York, Academic, p. 16.
協同構音
Co-articulation
- 來源:Rosenbaum, D.A. (1991) 人類運動控制 紐約,論著,第6頁
Source: Rosenbaum, D.A. (1991) Human Motor Control. New York, Academic, p. 6.
第五講範例大綱:運動皮層
Sample Lecture Outline for Lecture 5: Motor Cortex
初級運動皮層
Primary Motor Cortex
- M1中的軀體相應分佈圖
M1 has body map
- 但是這種分佈圖的存在還有爭論
- But controversy about maps is coming...
- Wilder Penfield 實驗
- Wilder Penfield experiments
- 微電極刺激記錄實驗(Asanuma)
- Microelectrode stimulation-recording experiments (Asanuma)
- M1以外的多個運動區
Multiple motor areas in addition to M1
錐體束的作用
Role of the Pyramidal Track
- 錐體束解剖(起止點)
- Anatomy of the Pyramidal Track (origin and destination)
- 腦中風
- Stroke
- 脊髓中接觸運動神經元的特有通路
- Privileged access to motor neurons in spinal cord
- Kuypers實驗(錐體束橫斷面和脊髓網狀通路)
- Kuypers' experiments (transsection of pyramidal tract vs.. reticular spinal tracts)
- 悖論:一個PT神經元分布於屬於多個細胞群的運動神經元
Paradox of one PT neuron innervates motor neurons for multiple motor neuronal pools
M1神經元的編碼內容是什麼?
What is Coded by M1 Neurons?
- Edward Everets (1960's) 所引介的實驗協定的突破
- Breakthrough with experimental protocol introduced by Edward Everets (1960's)
- 有關負載的M1神經元編碼——早期故事
- M1 neurons code for load - early story
- 運動方向的M1神經元進行群編碼(Georgopoulos實驗)
- M1 neurons have a population code for direction of movement (Georgopoulos experiments)
- 群向量
- Population vectors
M1地圖/表徵是高度可塑性的
M1 Map/Representation is Highly Plastic.
- 實驗室證據(Nudo)
- Laboratory evidence (Nudo)
- 人體掃瞄的證據
Evidence from human scans
M1神經元反應不僅僅與相應的肌肉EMG活動有關
What M1 Neurons Respond to is not Simply Related to Corresponding Muscle EMG Activity.
- 在單個肌肉細胞中產生EMG活動的不同條件可能並非總是誘導與該肌肉相連接的運動神經元的衝動
Different conditions producing EMG activity in a single muscle may not all induce spike activity in a motor neuron connected to that muscle.
不同皮層區域特化成支配不同運動的假說
The Hypothesis that Different Motor Cortical Areas Specialize in Different Aspects of Movement.
- 「簡單」運動
"Simple" movements
- 順序性運動
- Sequential movements
- 假想運動
Imagined movements
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