ﻣ ﻝﺪ ﻲﺒﺼﻋ ﻢﺘﺴﻴﺳ ﯼﺯﺎﺳ
‐ ﻝﺮﺘﻨﮐ ﺭﺩ ﺪﻳﺪﺟ ﯼﺭﺎﺘﺧﺎﺳ ﺔﺋﺍﺭﺍ ﯼﺍﺮﺑ ﺪﻋﺎﺳ ﯽﻧﻼﻀﻋ
ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﯼﺎﻫﺰﺗﻭﺮﭘ
ﮑﭼ ﻴ ﻩﺪ :
ﮑﺸﻣ ﺯﺍ ﯽﮑﻳ ﯼﺎﻫﺰﺗﻭﺮﭘ ﺓﺪﻤﻋ ﺕﻼ
ﺪﻋﺎﺳ ،ﯽﻠﻌﻓ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ
ﻢﺘﺴﻴﺳ ﻪﺑ ﯽﻟﺮﺘﻨﮐ ﯼﺎﻫ ﯽﻣ ﺎﻬﻧﺁ ﺭﺩ ﻪﺘﻓﺭ ﺭﺎﮐ
ﺪﺷﺎﺑ ﻭ ﯽﮑﻴﺗﺎﺑﻭﺭ ﯽﺗﺎﮐﺮﺣ ﻪﺑ ﻪﮐ
ﯽﻣ ﺮﺠﻨﻣ ﺰﺗﻭﺮﭘ ﺭﺩ ﯽﻌﻴﺒﻃﺮﻴﻏ ﺪﻧﺩﺮﮔ
. ﺵﺮﮕﻧ ﻉﻮﻧ ﺯﺍ ﹰﺎﺗﺪﻤﻋ ﻞﮑﺸﻣ ﻦﻳﺍ
ﯽﮑﻴﻧﺎﮑﻣﻭﺮﺘﮑﻟﺍ ﻭ ﯽﮑﻴﺗﺎﺑﻭﺭ ﻝﺮﺘﻨﮐ ﯽﺣﺍﺮﻃ ﺔﻟﺄﺴﻣ ﻪﺑ
ﺰﺗﻭﺮﭘ ﯼﺍﺮﺑ ﻩﺪﻨﻨﮐ
ﯽﻣ ﯽﺷﺎﻧ ﺩﺩﺮﮔ . ﻪﮑﻴﺗﺭﻮﺻﺭﺩ ﺕﺎﮐﺮﺣ ﻪﺑﺎﺸﻣ ﺰﺗﻭﺮﭘ ﺕﺎﮐﺮﺣ ﻢﻴﻫﺍﻮﺨﺑ
ﯽﻌﻴﺒﻃ ﺖﺳﺍ ﻡﺯﻻ ﺪﺷﺎﺑ ﺪﻋﺎﺳ ﻝﺮﺘﻨﮐ
ﻪﺑ ﺓﺪﻨﻨﮐ ﺯﺍ ﺰﺗﻭﺮﭘ ﯼﺍﺮﺑ ﻪﺘﻓﺭ ﺭﺎﮐ
ﻩﺪﻳﺍ ﻪﺑ ﯽﻟﺮﺘﻨﮐ ﯼﺎﻫ ﺪﻳﺎﻤﻧ ﻩﺩﺎﻔﺘﺳﺍ ﯽﻌﻴﺒﻃ ﻢﺘﺴﻴﺳ ﺭﺩ ﻪﺘﻓﺭ ﺭﺎﮐ
. ﻪﻟﺎﻘﻣ ﻦﻳﺍﺭﺩ
ﻭ ﻝﺪﻣ ﻪﺑ ﻩﺎﮔﺪﻳﺩ ﻦﻳﺍ ﺎﺑ ﻪﺑﺎﺸﻣ ﻭ ﯼﺯﺎﺳ
ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ ﯼﺯﺎﺳ
ﺰﻐﻣ _ ﻪﻠﻀﻋ _ ﯽﻣ ﺪﻋﺎﺳ ﻢﻳﺯﺍﺩﺮﭘ . ﺎﺣ ﺞﻳﺎﺘﻧ ﯽﻟﺮﺘﻨﮐ ﯼﮊﻮﻟﻮﭘﻮﺗ ﺔﺋﺍﺭﺍ ﻪﺑ ﻞﺻ
ﻢﻫ ﻝﺮﺘﻨﮐ ﯼﺍﺮﺑ ﯼﺪﻳﺪﺟ ﺪﺷ ﺪﻫﺍﻮﺧ ﺮﺠﻨﻣ ﺰﺗﻭﺮﭘ ﺖﻋﺮﺳ ﻭ ﺖﻴﻌﻗﻮﻣ ﻥﺎﻣﺯ
.
ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺕﺭﻮﺻﺭﺩ ﺪﻋﺎﺳ ﯽﻌﻴﺒﻃ ﺕﺎﮐﺮﺣ ﺎﺑ ﺰﺗﻭﺮﭘ ﺕﺎﮐﺮﺣ ﺖﻬﺑﺎﺸﻣ ﻪﻴﺒﺷ ﯽﻃ ﯼﺩﺎﻬﻨﺸﻴﭘ ﯼﮊﻮﻟﻮﭘﻮﺗ ﻱﺯﺎﺳ
ﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﻲﻳﺎﻫ ﺖﺳﺍ ﻩ
.
ﺎﻫ ﻩﮊﺍﻭ ﻱ
ﻠﮐ ﻴ ﺪ ﻱ :
ﺎﺳ
،ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺪﻋ ﻝﺮﺘﻨﮐ
ﻝﺎﻨﮕﻴﺳ ،ﺰﺗﻭﺮﭘ
ﮑﻟﺍ
،ﻡﺍﺮﮔﻮﻳﺎﻣﻭﺮﺘ ﻝﺪﻣ
،ﻪﻠﻀﻋ ﯼﺯﺎﺳ ﺰﻐﻣ ﻢﺘﺴﻴﺳ
_ ﻪﻠﻀﻋ _ ﺪﻋﺎﺳ
۱
‐ ﻪﻣﺪﻘﻣ
ﯽﮑﻴﻧﺎـﮑﻣﻭﺮﺘﮑﻟﺍ ﯼﺎـﻫﺮﮕﻠﻤﻋ ﯼﺍﺭﺍﺩ ﯽﻋﻮﻨﺼﻣ ﯼﺰﺗﻭﺮﭘ ،ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺪﻋﺎﺳ ﺖﺳﺍ ﻪﮐ ﻝﻮـﻠﻌﻣ ﺩﺮـﻓ ﺎـﺑ ﯽﮑﻳﮊﻮـﻟﻮﻴﺑ ﻁﺎﺒﺗﺭﺍ ﻂﺳﻮﺗ ﻥﺁ ﺭﺩ ﯽﺘﮐﺮﺣ ﻥﺎﻣﺮﻓ
ﯽﻣ ﻞﺻﺎﺣ ﺩﺩﺮﮔ . ،ﺪﻋﺎﺳ ﻊﻄﻗ ﺩﻮﺟﻭ ﺎﺑ ﺖﮐﺮﺣ ﺕﻼﻀﻋ
ﺓﺪـﻨﻫﺩ ﻥﺁ ﺭﺩ ﻪـﮐ
ﺪﻧﺭﺍﺩ ﺭﺍﺮﻗ ﻭﺯﺎﺑ ﺖﻤﺴﻗ ﯽﻣ ﻭ ﻩﺩﻮﺑ ﻢﻟﺎﺳ ،
ﻪﺑ ﺪﻨﻧﺍﻮﺗ ﺩﺮـﻓ ﻂـﺳﻮﺗ ﯼﺩﺍﺭﺍ ﺭﻮﻃ
ﺪﻧﻮﺷ ﺎﻫﺭ ﺎﻳ ﺾﺒﻘﻨﻣ .
ﺎﻨﮕﻴـﺳ ،ﺕﻼﻀﻋ ﺽﺎﺒﻘﻧﺍ ﺎﺑ ﻝﺎﻨﮕﻴـﺳ ﻪـﺑ ﻡﻮـﺳﻮﻣ ﯽﻟ
ﯽﻣ ﺩﺎﺠﻳﺍ ﺕﻼﻀﻋ ﺭﺩ EMG
ﻪﮐ ﺩﺩﺮﮔ ﯼﺍﺮﺑ ﺰـﺗﻭﺮﭘ ﺎـﺑ ﻝﻮـﻠﻌﻣ ﺩﺮﻓ ﻁﺎﺒﺗﺭﺍ ﯽﻣ ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ
ﺩﺮﻴﮔ . ﯽﺴـﻧﺎﮐﺮﻓ ﻭ ﯽﻧﺎﻣﺯ ﺹﺍﻮﺧ ﯼﺍﺭﺍﺩ ﻝﺎﻨﮕﻴﺳ ﻦﻳﺍ
ﯽﻣ ﻒﻠﺘﺨﻣ ﺕﺎﮐﺮﺣ ﺎﺑ ﺮﻇﺎﻨﺘﻣ
ﺪﺷﺎﺑ ﺍﺬﻟ ، ﻝﺎﻨﮕﻴـﺳ ﺖﺒﺛ ﺎﺑ ﺝﺍﺮﺨﺘـﺳﺍ ،EMG
ﻩﺪﺷ ﻦﻴﻴﻌﺗ ﺶﻴﭘ ﺯﺍ ﺮﻳﺩﺎﻘﻣ ﺎﺑ ﺎﻬﻧﺁ ﺔﺴﻳﺎﻘﻣ ﻭ ﻥﺁ ﯽﺴﻧﺎﮐﺮﻓ ﻭ ﯽﻧﺎﻣﺯ ﺹﺍﻮﺧ
،
ﯽﻣ ﺩﻮﻤﻧ ﺺﺨﺸﻣ ﺍﺭ ﺩﺮﻓ ﺏﻮﻠﻄﻣ ﺖﮐﺮﺣ ﻥﺍﻮﺗ .
ﺖـﮐﺮﺣ ﺺﻴﺨﺸﺗ ﺯﺍ ﺲﭘ
ﻝﺎﻨﮕﻴﺳ ،ﺏﻮﻠﻄﻣ
ﻝﺎـﻤﻋﺍ ﯽﮑﻴﻧﺎـﮑﻣﻭﺮﺘﮑﻟﺍ ﻢﺘﺴـﻴﺳ ﻪـﺑ ﺐﺳﺎﻨﻣ ﯽﻟﺮﺘﻨﮐ ﯼﺎﻫ
ﯽﻣ ﺩﺮﻴﮔ ﻡﺎﺠﻧﺍ ﺮﻈﻧﺩﺭﻮﻣ ﺖﮐﺮﺣ ﺎﺗ ﺩﺩﺮﮔ .
ﻪﺑ ﻢﺘﺴﻴﺳ ﮏﻳ ﯼﺎﻤﺷ ﺐﻴﺗﺮﺗ ﻦﻳﺍ
ﻪﺑ ﮏﻴﺘﻧﺮﺒﻳﺎﺳ ﺪﻋﺎﺳ ﻝﺮﺘﻨﮐ
ﻞﮑـﺷ ﺭﺩ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺕﺭﻮﺻ )
۱ ( ﺪـﻫﺍﻮﺧ
ﺩﻮﺑ .
ﮏﻴﺘﻧﺮﺒﻳﺎﺳ ﺪﻋﺎﺳ ﻝﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ ﯽﻠﮐ ﯼﺎﻤﺷ : ۱ ﻞﮑﺷ
۲
‐ ﻩﺩﺍﺭﺍ ﺺﻴﺨﺸﺗ
ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ﺩﺮﻓ ﺮﻈﻧﺩﺭﻮﻣ ﺖﮐﺮﺣ ﻦﻴﻴﻌﺗ ،ﻩﺩﺍﺭﺍ ﺺﻴﺨﺸﺗ ﺯﺍ ﺭﻮﻈﻨﻣ ﻝﺎﻨﮕﻴـﺳ
ﻘﻧﺍ ﺯﺍ ﻞﺻﺎﺣ EMG
ﯽﻣ ﺕﻼﻀﻋ ﺽﺎﺒ
ﺪﺷﺎﺑ . ﻦـﻳﺍ ﯼﺍﺮﺑ ﺯﺍ ﹰﻻﻮـﻤﻌﻣ ﺭﻮـﻈﻨﻣ
ﺵﻭﺭ ﻮﮕﻟﺍ ﺖﺧﺎﻨﺷﺯﺎﺑ ﯼﺎﻫ ﯽﻣ ﻩﺩﺎﻔﺘﺳﺍ ١
ﺩﻮﺷ . ﻢﺘﺴـﻴﺳ ﮏـﻳ ﯽـﻠﮐ ﯼﺎﻤـﺷ
ﻞﮑﺷ ﺭﺩ ﻮﮕﻟﺍ ﺖﺧﺎﻨﺷﺯﺎﺑ )
۲ ( ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ .
ﻪﻈﺣﻼﻣ ﻪﮐ ﺭﻮﻄﻧﺎﻤﻫ
ﯽﻣ ﻩﺯﺍﺪﻧﺍ ﻡﺎﺠﻧﺍ ﺎﺑ ﺍﺪﺘﺑﺍ ،ﺩﺩﺮﮔ
ﻱﺮﻴﮔ ﺭﺍﺩﺮـﺑ ،ﯼﺩﻭﺭﻭ ﻝﺎﻨﮕﻴـﺳ ﯼﻭﺭ ﺮﺑ ﻲﻳﺎﻫ
ﻩﺯﺍﺪﻧﺍ ﯽﻣ ﻪﺘﺧﺎﺳ ﯼﺮﻴﮔ
ﺩﻮﺷ . ﺶﻴﭘ ﺯﺍ ﺲﭘ
،ﺵﺯﺍﺩﺮﭘ ﻲﮔﮋﻳﻭ ﻝﺎﻨﮕﻴﺳ ﺯﺍ ﻲﻳﺎﻫ
ﺺﺨﺸﻣ ﻪﮐ
ﯽﻧﺎﻣﺯ ﺹﺍﻮﺧ ﺓﺪﻨﻨﮐ _
ﯽﻣ ﻥﺁ ﯽﺴﻧﺎﮐﺮﻓ
،ﻩﺪـﺷ ﺝﺍﺮﺨﺘـﺳﺍ ﺪﻨﺷﺎﺑ
1 Pattern Recognition
ﺩﺎﻴﻬﻣ ﺪﻴﻌﺳ
ﻩﺎﮕﺸﻧﺍﺩ ﯽﺳﻮﻃ ﻦﻳﺪﻟﺍ ﺮﻴﺼﻧ ﻪﺟﺍﻮﺧ ﯽﺘﻌﻨﺻ
[email protected]
ﺮﺘﮐﺩ ﯽﻘﺗ ﺎﺿﺭﺪﻴﻤﺣ ﺩﺍﺭ
ﻩﺎﮕﺸﻧﺍﺩ ﯽﺳﻮﻃ ﻦﻳﺪﻟﺍ ﺮﻴﺼﻧ ﻪﺟﺍﻮﺧ ﯽﺘﻌﻨﺻ
[email protected]
ﻞﻴﮑﺸﺗ ﻩﺩﺍﺭﺍ ﺰﻐﻣ ﺭﺩ
ﯽﺒﺼﻋ ﻝﺎﻨﮕﻴﺳ
ﻪﻠﻀﻋ EMG ﺺﻴﺨﺸﺗ
ﻩﺩﺍﺭﺍ ﺮﻟﺮﺘﻨﮐ ﺰﺗﻭﺮﭘ
ﻪﻘﺒﻃ ﺶﺨﺑ ﻪﺑ ﯽﻣ ﻝﺎﺳﺭﺍ ﻩﺪﻨﻨﮐ ﯼﺪﻨﺑ
ﺪﻧﻮﺷ . ﺶﺨﺑ ﻦﻳﺍ ﺭﺩ ﯽـﺘﮐﺮﺣ ﺱﻼـﮐ
ﯽﻣ ﻩﺩﺍﺩ ﺺﻴﺨﺸﺗ ﻝﺎﻨﮕﻴﺳ ﺎﺑ ﺮﻇﺎﻨﺘﻣ ﺩﻮﺷ
.
ﯽﻣ ﺮﻈﻧﺩﺭﻮﻣ ﯽﺘﮐﺮﺣ ﺱﻼﮐ ﺭﺎﻬﭼ ﺺﻴﺨﺸﺗ ﮏﻴﺘﻧﺮﺒﻳﺎﺳ ﺪﻋﺎﺳ ﺭﺩ ﻪـﮐ ﺪﺷﺎﺑ
ﻋ ﻊﻤﺟ ﺯﺍ ﺪﻨﺗﺭﺎﺒ
ﺪﻋﺎـﺳ ﻥﺩﺮـﮐ ﺪﻋﺎـﺳ ﻥﺩﺮﮐﺯﺎـﺑ ،١
ﻪـﺑ ﺪﻋﺎـﺳ ﻥﺪـﻧﺎﺧﺮﭼ ،٢
٣ﻞﺧﺍﺩ ﺝﺭﺎـﺧ ﻪﺑ ﺪﻋﺎﺳ ﻥﺪﻧﺎﺧﺮﭼ ﻭ .٤
ﺯﺍ ﺕﺎـﮐﺮﺣ ﻦـﻳﺍ ﺺﻴﺨﺸـﺗ ﯼﺍﺮـﺑ
ﻝﺎﻨﮕﻴﺳ ﯼﺎﻫ ﺮﺳﻭﺩ ﺕﻼﻀﻋ EMG
ﻪﺳ ﻭ ٥
٦ﺮﺳ ﯽـﻣ ﻩﺩﺎﻔﺘﺳﺍ ﻲﻳﻭﺯﺎﺑ
ﺩﺩﺮـﮔ .
ﯽﻣ ﻩﺪﺷ ﺮﮐﺫ ﺕﺎﮐﺮﺣ ﺭﺩ ﻞﻣﺍﻮﻋ ﻦﻳﺮﺗﺮﺛﺆﻣ ﺕﻼﻀﻋ ﻦﻳﺍ ﻪـﺑ ﻪﮐ ﺪﻨﺷﺎﺑ
ﻞـﻴﻟﺩ
ﺎﺑ ﺔﻴﺣﺎﻧ ﺭﺩ ﻦﺘﺷﺍﺩ ﺭﺍﺮﻗ ﺖﻴﻟﻮﻠﻌﻣ ﺭﺩ ،ﻭﺯ
ﯽﻣ ﻥﺎﻨﭽﻤﻫ ﺞﻧﺭﺁ ﯼﻻﺎﺑ ﯼﺎﻫ ﺪﻨﻧﺍﻮﺗ
ﺪــﻧﺮﻴﮔ ﺭﺍﺮــﻗ ﻩﺩﺎﻔﺘــﺳﺍ ﺩﺭﻮــﻣ .
ﻭ ﺖــﺒﺛ ،ﯼﺭﺍﺬــﮔﺩﻭﺮﺘﮑﻟﺍ ﺓﻮــﺤﻧ ﺔــﻨﻴﻣﺯ ﺭﺩ
ﻝﺎﻨﮕﻴﺳ ﯼﻮﮕﻟﺍ ﺖﺧﺎﻨﺷﺯﺎﺑ ﺖـﺳﺍ ﻪـﺘﻓﺮﮔ ﻡﺎﺠﻧﺍ ﯼﺩﺪﻌﺘﻣ ﺕﺎﻘﻴﻘﺤﺗ EMG
.
ﻝﺎﻨﮕﻴــﺳ ﯽﺗﺎــﻋﻼﻃﺍ ﯽﺑﺎــﻳﺯﺭﺍ ﻪــﺑ ﺕﺎــﻘﻴﻘﺤﺗ ﻦــﻳﺍ ﺯﺍ ﯽــﺧﺮﺑ
EMG
ﻪــﺘﺧﺍﺩﺮﭘ ﺪــﻧﺍ ] ۱ ﻭ ۲ [ ﺎﻨــﺷﺯﺎﺑ ﺔﻟﺄﺴــﻣ ﺮــﮕﻳﺩ ﯽــﺧﺮﺑ ﻭ ﯽــﺳﺭﺮﺑ ﺍﺭ ﻮــﮕﻟﺍ ﺖﺧ
ﻩﺩﻮﻤﻧ ﺪﻧﺍ ].
۳ ﻭ ۴ ﻭ ۵ [
ﻞﮑﺷ ۲ : ﻮﮕﻟﺍ ﺖﺧﺎﻨﺷﺯﺎﺑ ﻢﺘﺴﻴﺳ ﯽﻠﮐ ﯼﺎﻤﺷ
٣
‐ ﻝﺪﻣ ﻝﺮﺘﻨﮐ ﻭ ﯼﺯﺎﺳ
ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ ﻂﺳﻮﺗ ﺐﺳﺎﻨﻣ ﻦﻴﻣﺍﺮﻓ ﺖﺳﺍ ﻡﺯﻻ ،ﺖﮐﺮﺣ ﺺﻴﺨﺸﺗ ﺯﺍ ﺲﭘ ﺩﺮـﻴﮔ ﻡﺎﺠﻧﺍ ﺰﺗﻭﺮﭘ ﻂﺳﻮﺗ ﻪﻃﻮﺑﺮﻣ ﺖﮐﺮﺣ ﺎﺗ ﺩﺩﺮﮔ ﺭﺩﺎﺻ .
ﻩﺪـﻳﺍ ﻪـﮐ ﻲﻳﺎـﻫ
ﺔﻨﻴﻣﺯ ﺭﺩ ﻥﻮﻨﮐﺎﺗ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ ،ﺰﺗﻭﺮﭘ ﺭﺩ ﺖﮐﺮﺣ ﺩﺎﺠﻳﺍ
ﺮـﺑ ﺪـﻧﺍ
ﺖﺑﺎﺛ ﺖﻋﺮﺳ ﺎﺑ ﯽﺘﮐﺮﺣ ﺪﻴﻟﻮﺗ ﯼﺎﻨﺒﻣ ﻩﺩﻮﺑ
ﺪﻧﺍ . ﺶﻫﻭﮋﭘ ﻦﻳﺍ ﺯﺍ ﯽﺧﺮﺑ ﺭﺩ ﺎـﻫ
ﻩﺪـﺷ ﺡﺮـﻄﻣ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺖﺳﺩ ﯽﺣﺍﺮﻃ
ﺖـﺳﺍ ] ۶ ﻭ ۷ [ ﺮـﮕﻳﺩ ﯽـﺧﺮﺑ ﺭﺩ ﻭ
ﻝﺮﺘﻨﮐ ﯽﺣﺍﺮﻃ
ﻩﺪﻨﻨﮐ ﻩﺪـﺷ ﯽﺳﺭﺮﺑ ﻥﺍﺮﻬﺗ ﮏﻴﺘﻧﺮﺒﻳﺎﺳ ﺖﺳﺩ ﯼﺍﺮﺑ ﺹﺎﺧ ﯼﺍ
ﺖﺳﺍ ] ۸ ﻭ ۹ ﻭ ۱۰ [.
ﯼﺎﻤﺷ ﺍ ﯽﻠﮐ ﻦﻳ ﻢﺘﺴﻴﺳ ﯼﺎﻫ ﻞﮑﺷ ﺭﺩ ﯽﻟﺮﺘﻨﮐ )
۳ ( ﻥﺎﺸـﻧ
ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ .
ﻞﮑﺷ ۳ : ﺖﺑﺎﺛ ﺖﻋﺮﺳ ﺎﺑ ﺰﺗﻭﺮﭘ ﻝﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ
ﺑﺎ ﻦﻳﺍ
،ﺵﻭﺭ ﻭ ﻩﺩﻮـﺑ ﯽﮑﻴﺗﺎـﺑﻭﺭ ﺕﺭﻮﺼـﺑ ،ﺰﺗﻭﺮﭘ ﺭﺩ ﻩﺪﺷ ﺩﺎﺠﻳﺍ ﺕﺎﮐﺮﺣ
ﯽﻤﻧ ﻥﺎﺴﻧﺍ ﯽﻌﻴﺒﻃ ﺕﺎﮐﺮﺣ ﺎﺑ ﺭﺎﮔﺯﺎﺳ
ﺪﺷﺎﺑ . ﯼﺎﻬﻤﺘﺴـﻴﺳ ﻦﻳﺮﺘﻬﺑ ﻪﮐﺎﺠﻧﺁ ﺯﺍ
ﻌﻴﺒﻃ ﺭﺩ ﯽﻟﺮﺘﻨﮐ ﯽـﻣ ﯽﻌـﺳ ،ﺖﺳﺍ ﺩﻮﺟﻮﻣ ﺖ
ﻝﺮـﺘﻨﮐ ﺓﻮـﺤﻧ ﮎﺭﺩ ﺎـﺑ ﻢﻴـﻨﮐ
ﺰﻐﻣ ﻂﺳﻮﺗ ﺪﻋﺎﺳ ﺕﺎﮐﺮﺣ
، ﻩﺪﻳﺍ ﺝﺍﺮﺨﺘـﺳﺍ ﺍﺭ ﻪـﺘﻓﺭ ﺭﺎـﮐ ﻪـﺑ ﯽـﻟﺮﺘﻨﮐ ﯼﺎـﻫ
1 Flexion
2 Extension
3 Pronation
4 Supination
5 Biceps Brachii
6 Triceps Brachii ﻢﻴﻳﺎﻤﻧ
. ﻂـﺳﻮﺗ ﺪﻋﺎـﺳ ﻥﺩﺮـﮐ ﺯﺎﺑ ﻭ ﻊﻤﺟ ﺕﺎﮐﺮﺣ ﻝﺮﺘﻨﮐ ﺭﻮﻈﻨﻣ ﻦﻳﺍ ﯼﺍﺮﺑ
ﺮﺳﻭﺩ ﺕﻼﻀﻋ ﮏﻳﺮﺤﺗ ﺎﺑ ﺰﻐﻣ ﻪﺳ ﻭ
ﺮﺳ ﻪﺑﺎﺸﻣ ﺍﺭ ﯽﻣ ﯼﺯﺎﺳ ﻢﻴﻳﺎـﻤﻧ . ﺞﻳﺎـﺘﻧ
ﻪﺑﺎﺸﻣ ﻦﻳﺍ ﺯﺍ ﻞﺻﺎﺣ
ﯼﺯﺎﺳ ﺮﺠﻨﻣ ﻪﺑ ﺣﺍﺮﻃ ﯼﺍﺮﺑ ﯽﺗﺍﺩﺎﻬﻨﺸﻴﭘ ﺔﺋﺍﺭﺍ ﻢﺘﺴﻴﺳ ﯽ
ﺰﻐﻣ ﻪﺑﺎﺸﻣ ﯽﻟﺮﺘﻨﮐ ﺮﺣ ﻭ
ﯽﺗﺎﮐ ﺒﺷ ﻴ ﻪ ﻥﺎﺴﻧﺍ ﺭﺩ٧
ﯽﻣ ﺰﺗﻭﺮﭘ ﺩﺩﺮﮔ .
۳
‐ ۱
‐ ﻝﺪﻣ ﻪﻠﻀﻋ ﯼﺯﺎﺳ ]
۱۱ [
ﻪﻄﺑﺍﺭ ﻪﻠﻀﻋ ﻝﺪﻣ
ﻴﻴﻐﺗ ﻭ ﻝﻮﻃ ﺮﻴﻴﻐﺗ ﻦﻴﺑ ﯼﺍ ﯽﻣ ﻪﻠﻀﻋ ﯼﻭﺮﻴﻧ ﺮ
ﺪﺷﺎﺑ . ﯼﺍﺮـﺑ
ﻝﺪﻣ ﺯﺍ ﻪﻠﻀﻋ ﯼﺯﺎﺳ ﻪﺳ ﻝﺪﻣ
ﯽﺋﺰﺟ ﻞﻴﻫ ﯽﻣ ﻩﺩﺎﻔﺘﺳﺍ ٨
ﻢﻴﻳﺎﻤﻧ ﻝﺪﻣ ﻦﻳﺍ.
ﻪـﮐ
ﻝﺪﻣ ﻉﻮﻧ ﺯﺍ ﻫ
ﻩﺪﻳﺪﭘ ﯼﺎ
٩ﺭﻮﺤﻣ ﯽﻣ ﺪﺷﺎﺑ ﻞﮑﺷ ﺭﺩ ) ۴ ( ﻩﺪﻣﺁ ﺖﺳﺍ .
ﻞﮑﺷ ۴ : ﻞﻴﻫ ﯽﺋﺰﺟ ﻪﺳ ﻝﺪﻣ
ﻝﺪﻣ ﻪﺳ ﻞﻴﻫ ﯽﺋﺰﺟ ﯼﺮـﺳ ﻥﺎﺴﺸﮐ ﻥﺎﻤﻟﺍ ﮏﻳ ﺯﺍ ﻞﮑﺸﺘﻣ
(ks)
ﻥﺎـﻤﻟﺍ ﮏـﻳ ،
ﯼﺯﺍﻮــﻣ ﻥﺎﺴــﺸﮐ
(kp)
ﯽــﺿﺎﺒﻘﻧﺍ ﻥﺎــﻤﻟﺍ ﮏــﻳ ﻭ
(CE)١٠
ﯽــﻣ ﺪــﺷﺎﺑ . ﻥﺎــﻤﻟﺍ
ﯽــﻣ ﻝﺪــﻣ ﻝﺎــﻌﻓ ﺮﺼــﻨﻋ ﻊــﻗﺍﻭ ﺭﺩ ﯽــﺿﺎﺒﻘﻧﺍ ﺪــﺷﺎﺑ
ﻪــﮐ ﻮﺗ ﺔــﻄﺑﺍﺭ ﻭﺩ ﻂــﺳ
ﻭﺮﻴﻧ _ ﺖﻋﺮﺳ ﻭﺮﻴﻧ ﻭ _ ﻝﻮﻃ ﯽﻣ ﻒﻴﺻﻮﺗ ﺩﺩﺮﮔ
.
ﻭﺮﻴﻧ ﺔﻄﺑﺍﺭ
‐ ﮏﻳ ﻝﻮﻃ ﻪﻠﻀﻋ
ﻪـﮐ ﮏﻳﺮﺘﻣﻭﺰﻳﺍ ﯼﻭﺮﻴﻧ ﺮﺜﮐﺍﺪﺣ ﺯﺍ ﺖﺴﺗﺭﺎﺒﻋ
ﯽﻣ ﻪﻠﻀﻋ ﻝﻮﻃ ﺭﺩ ﺪﻧﺍﻮﺗ
ﺪﻨﮐ ﺪﻴﻟﻮﺗ ﻒﻠﺘﺨﻣ ﯼﺎﻫ .
ﻞﮑﺷ ﺭﺩ ﻪﮐﺭﻮﻄﻧﺎﻤﻫ )
۵ (
ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﯽﻣ ﻩﺩﺎﺳ ﺖﻟﺎﺣ ﺭﺩ ﻪﻄﺑﺍﺭ ﻦﻳﺍ
ﺪﻧﺍﻮﺗ ﻪـﺑ ﮏـﻳ ﺕﺭﻮـﺻ
ﻭﺩ ﻪﺟﺭﺩ ﯽﻨﺤﻨﻣ ﺎﺑ
ﺘﻣﺍﺭﺎﭘ ﯼﺎﻫﺮ ﺮﺜﮐﺍﺪﺣ ﯼﻭﺮﻴﻧ ﮏﻳﺮﺘﻣﻭﺰﻳﺍ
F0
ﺓﺩﻭﺪـﺤﻣ ﻭ
ﺯﺎﺠﻣ ﯼﺎﻬﻟﻮﻃ ﺩﻮﺷ ﺺﺨﺸﻣ L
.
ﻝﻮﻃ ‐ﻭﺮﻴﻧ ﺔﻄﺑﺍﺭ ﯽﻋﻮﻧ ﻞﮑﺷ : ۵ ﻞﮑﺷ
ﻭﺮﻴﻧ ﺔﻄﺑﺍﺭ
‐ ﺎـﺑ ﻪﻠﻀـﻋ ﯽﻤﺋﺍﺩ ﺖﻟﺎﺣ ﯼﻭﺮﻴﻧ ﺮﺜﮐﺍﺪﺣ ﻁﺎﺒﺗﺭﺍ ﺮﮕﻧﺎﻴﺑ ﺖﻋﺮﺳ
ﯽﻣ ﻥﺁ ﻝﻮﻃ ﺮﻴﻴﻐﺗ ﺥﺮﻧ
ﺪﺷﺎﺑ . ﻦﻳﺍ ﻄﺑﺍﺭ ﻪ ﮏﻳ ﯼﺍﺮﺑ ﺔﻠﻀﻋ
ﺽﺎـﺒﻘﻧﺍ ﻝﺎﺣ ﺭﺩ
ﺩ ﻃ ﺭ ﻥﺎﻴﺑ ﺮﻳﺯ ﺕﺭﻮﺼﺑ ﻪﻨﻴﻬﺑ ﻝﻮ ﯽﻣ
ﺩﻮﺷ :
(F + a)(v + b) = (F0 + a)b (۱) ،ﻥﺁ ﺭﺩ ﻪﮐ ﻪﻠﻀﻋ ﺭﺩ ﻩﺪﺷ ﺪﻴﻟﻮﺗ ﯼﻭﺮﻴﻧ F
ﺖﻋﺮﺳ ﺎﺑ ﻪﮐ ﺖﺳﺍ ﯼﺍ ﻝﺎﺣ ﺭﺩ v
ﯽﻣ ﺽﺎﺒﻘﻧﺍ ﻭ ﺪﺷﺎﺑ
F0
ﺮﺜﮐﺍﺪﺣ ﻪـﮐ ﺖـﺳﺍ ﯽﺘﻟﺎـﺣ ﺭﺩ ﮏـﻳﺮﺘﻣﻭﺰﻳﺍ ﯼﻭﺮـﻴﻧ
ﺩﺭﺍﺩ ﺭﺍﺮﻗ ﻪﻨﻴﻬﺑ ﻝﻮﻃ ﺭﺩ ﯽﺿﺎﺒﻘﻧﺍ ﻥﺎﻤﻟﺍ
a . ﻭ ﯽـﻣ ﯼﺩﺪﻋ ﯼﺎﻬﺘﺑﺎﺛ b
ﺪﻨـﺷﺎﺑ .
7 anthropomorphic
8 Hill's three-element model
9 Phenomenological
10 Contractile Element
Force F0
L
Fiber Length
CE
ks
kp
w
u f
ﺪﻴﻟﻮﺗ ﺮﻴﺴﻣ ﺓﺪﻨﻨﮐ
ﺖﺑﺎﺛ ﺖﻋﺮﺳ ﺎﺑ ﺱﻼﮐ
ﯽﺘﮐﺮﺣ
ﺮﻟﺮﺘﻨﮐ θref
-
e τ ﺰﺗﻭﺮﭘ θ
+
ﺮﮕﺷﺯﺍﺩﺮﭘ ﺶﻴﭘ ﯽﮔﮋﻳﻭ ﺝﺍﺮﺨﺘﺳﺍ ﯼﺪﻨﺑﻪﻘﺒﻃ ﻩﺪﻨﻨﮐ ﻩﺯﺍﺪﻧﺍ ﺭﺍﺩﺮﺑ
ﯼﺮﻴﮔ ﺱﻼﮐ
ﻦﻳﺍ ﻞﮑﺷ ﺭﺩ ﯽﻋﻮﻧ ﺕﺭﻮﺼﺑ ﻪﻄﺑﺍﺭ )
۶ ( ﺖﺳﺍ ﻩﺪﺷ ﻢﺳﺭ .
ﻞﮑﺷ ﻦﻳﺍ ﺭﺩ
V0
ﯽﻣ ﻪﻠﻀﻋ ﺽﺎﺒﻘﻧﺍ ﺖﻋﺮﺳ ﺮﺜﮐﺍﺪﺣ ﺪﺷﺎﺑ
.
ﻞﮑﺷ ۶ : ﻭﺮﻴﻧ ﺔﻄﺑﺍﺭ ﯽﻋﻮﻧ ﻞﮑﺷ ‐
ﺖﻋﺮﺳ
ﻭﺮﻴﻧ ﻂﺑﺍﻭﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ _
ﻭﺮﻴﻧ ﻭ ﺖﻋﺮﺳ _
ﺮﺑ ﻢﮐﺎﺣ ﯽﮑﻳﺰﻴﻓ ﻂﺑﺍﻭﺭ ﻭ ﻝﻮﻃ
ﯽﻣ ﻞﺻﺎﺣ ﻪﻠﻀﻋ ﻝﺪﻣ ﯼﺍﺮﺑ ﺮﻳﺯ ﺔﻄﺑﺍﺭ ،ﻝﺪﻣ ﺩﺩﺮﮔ
:
⎥⎥
⎦
⎤
⎢⎢
⎣
⎡ ⎟⎟⎠ −
⎜⎜ ⎞
⎝
⎛ +
=
−
• •
, 0
1
. l
k u f k f k
u k f
s s p CE
p β ( ۲)
،ﻪﻄﺑﺍﺭ ﻦﻳﺍ ﺭﺩ ،ﻪﻠﻀﻋ ﺽﺎﺒﻘﻧﺍ ﺯﺍ ﻞﺻﺎﺣ ﯼﻭﺮﻴﻧ f
ﺖـﻟﺎﺣ ﺯﺍ ﻲﻳﺎـﺠﺑﺎﺟu
،ﺖﺣﺍﺮﺘﺳﺍ u•
ﻭ ﻪﻠﻀﻋ ﻝﻮﻃ ﺮﻴﻴﻐﺗ
l0
ﮏﻳﺮﺤﺗ ﺔﻈﺤﻟ ﺭﺩ ﻪﻠﻀﻋ ﺔﻴﻟﻭﺍ ﻝﻮﻃ
ﯽﻣ ﺪﺷﺎﺑ
β. ﺖﻴﻟﺎﻌﻓ ﺢﻄﺳ ﯽﻣ ﻥﺎﺸﻧ ﺍﺭ ﻪﻠﻀﻋ ١
ﺪﻫﺩ ﻪﮐ ﯽـﻣ ﯼﺭﺍﺪـﻘﻣ ﺪـﻧﺍﻮﺗ
ﺮﻔﺻ ﻦﻴﺑ ) ﺖﻴﻟﺎﻌﻓ ﻡﺪﻋ (
ﮏﻳ ﻭ ) ﺖﻴﻟﺎﻌﻓ ﺮﺜﮐﺍﺪﺣ (
ﺪﻨﮐ ﺭﺎﻴﺘﺧﺍ .
۳
‐ ۲
‐ ﻪﺳ ﻭ ﺮﺳﻭﺩ ﺕﻼﻀﻋ ﻝﺪﻣ ﻲﻳﻭﺯﺎﺑ ﺮﺳ
ﻪﺳ ﻭ ﺮﺳﻭﺩ ﺕﻼﻀﻋ ﻞﻣﺎﮐ ﻝﺪﻣ ﻦﺘﺷﺍﺩ ﯼﺍﺮﺑ
ﯼﺎـﻫﺮﺘﻣﺍﺭﺎﭘ ﺖـﺳﺍ ﻡﺯﻻ ﺮـﺳ
ﻭﺮﻴﻧ ﻂﺑﺍﻭﺭ ﺭﺩ ﻝﻮﻬﺠﻣ _
ﻭﺮﻴﻧ ﻭ ﺖﻋﺮﺳ _
ﻝﻮﻃ ﺪﻧﺩﺮﮔ ﺺﺨﺸﻣ .
ﻩﺩﺎﻔﺘـﺳﺍ ﺎﺑ
ﺘﺨﻣ ﺕﺎﻘﻴﻘﺤﺗ ﺭﺩ ﻩﺪﺷ ﻪﺋﺍﺭﺍ ﺞﻳﺎﺘﻧ ﺯﺍ ﻒﻠ
] ۱۲ [ ﺭﺩ ﻩﺪـﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺮﻳﺩﺎﻘﻣ ،
ﺪﺟ ﻝﻭ ) ۳ ( ﯽﻣ ﻞﺻﺎﺣ ﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﻦﻳﺍ ﯼﺍﺮﺑ ﺩﺩﺮﮔ
.
b' (mm/s) a' (N) b (mm/s) a (N) V0
(mm/s) F0M
(N) PCSA (cm2)
LM0
(cm) Volume
(cm3) Muscle
426.6 212.3 568.8 212.3 2275 849.3 25.9 14.2 365.84 Biceps
263.1 583.2 350.8 583.2 1403 2333 76.3 8.77 619.99 Triceps
ﻝﻭﺪﺟ ۳ : ﻪﺳ ﻭ ﺮﺳﻭﺩ ﺕﻼﻀﻋ ﯼﺍﺮﺑ ﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﺮﻳﺩﺎﻘﻣ ﺮﺳ
ﻞﮑﺷ ۷ : ﺪﻋﺎﺳ ﯼﺎﻤﺷ
ﻞﮑﺷ ﺯﺍ ﺪﻋﺎﺳ ﺕﺎﮐﺮﺣ ﻥﺎﻴﺑ ﯼﺍﺮﺑ )
۷ ( ﯽﻣ ﻩﺩﺎﻔﺘﺳﺍ ﻢﻴﻨﮐ . ،ﻞﮑـﺷ ﻦـﻳﺍ ﺭﺩ
θ
ﹰﻼﻣﺎـﮐ ﺪﻋﺎﺳ ﻪﮐ ﺖﺳﺍ ﻲﺘﻟﺎﺣ ﻪﺑ ﺖﺒﺴﻧ ﻭﺯﺎﺑ ﺩﺍﺪﺘﻣﺍ ﻭ ﺪﻋﺎﺳ ﻦﻴﺑ ﺔﻳﻭﺍﺯ ﺯﺎـﺑ
ﺪﺷﺎﺑ . ﺒﺗ ﯼﺍﺮﺑ ﻞﻳﺪ ﻪﻴﺒﺷ ﺭﺩ ﻩﺩﺎﻔﺘﺳﺍ ﺖﻬﺟ ﻪﻠﻀﻋ ﻝﻮﻃ ﺮﻴﻴﻐﺗ ﻪﺑ θ
ﺯﺍ ﯼﺯﺎـﺳ
ﯽﻣ ﻩﺩﺎﻔﺘﺳﺍ ﺮﻳﺯ ﺔﻄﺑﺍﺭ ﻢﻴﻨﮐ
:
1 Activation Level
3 3 2 2 1
0 bθ bθ bθ
b
u= + + + (۳)
ﺭﺩ ﻞـﺻﺎﺣ ﺭﻭﺎﺘﺸـﮔ ﻪﺑ ﻪﻠﻀﻋ ﺭﺩ ﻩﺪﺷ ﺪﻴﻟﻮﺗ ﯼﻭﺮﻴﻧ ﻞﻳﺪﺒﺗ ﯼﺍﺮﺑ ﻦﻴﻨﭽﻤﻫ ﺪﻋﺎﺳ ﺪﻋﺎـﺳ ﻪـﺑ ﺖﺒﺴﻧ ﻭﺮﻴﻧ ﺭﻭﺎﺘﺸﮔ ﯼﻭﺯﺎﺑ ﺭﺩ ﻪﻠﻀﻋ ﯼﻭﺮﻴﻧ ﺖﺳﺍ ﻡﺯﻻ
٢
ﺩﺩﺮﮔ ﺏﺮﺿ .
ﺯﺍ ﯽﻌﺑﺎـﺗ ﺪﻋﺎـﺳ ﻪـﺑ ﺖﺒﺴـﻧ ﻭﺮﻴﻧ ﺭﻭﺎﺘﺸﮔ ﯼﻭﺯﺎﺑ ﻭ ﻩﺩﻮـﺑ θ
ﻪﺑ ﯽﻣ ﻥﺎﻴﺑ ﺮﻳﺯ ﺕﺭﻮﺻ ﺩﺩﺮﮔ
:
5 5 4 4 3 3 2 2 1
0 aθ aθ aθ aθ aθ
a
MA= + + + + + ( ۴)
ﻂــﺑﺍﻭﺭ ﻦــﻳﺍ ﺭﺩ ﯼﺎــﻫﺮﺘﻣﺍﺭﺎﭘ
ai
bi ﻭ ﯽﺘﺑﺎــﺛ ﺮﻳﺩﺎــﻘﻣ ﺪﻨﺘﺴــﻫ
. ﻦــﻳﺍ ﺭﺍﺪــﻘﻣ
ﻩﺪﺷ ﺮﮐﺫ ﻊﺟﺍﺮﻣ ﺭﺩ ﺎﻫﺮﻨﻣﺍﺭﺎﭘ
ﺪﻧﺍ ] ۱۳ .[
ﻪﻴﺒﺷ ﮎﻮﻠﺑ ﺖﻳﺎﻬﻧﺭﺩ
ﺕﻼﻀﻋ ﯼﺯﺎﺳ
ﻪﺑ ﺭﺩ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺕﺭﻮﺻ ﻞﮑﺷ
) ۸ ( ﺩﻮﺑ ﺪﻫﺍﻮﺧ .
ﻪﻠﻀﻋ ﯼﺯﺎﺳﻪﻴﺒﺷ ﮎﻮﻠﺑ : ۸ ﻞﮑﺷ
ﻱﺩﻭﺭﻭ ،ﺪﻋﺎـﺳ ﺔﻳﻭﺍﺯ ﻭ ﻪﻠﻀﻋ ﺖﻴﻟﺎﻌﻓ ﺢﻄﺳ ،ﻞﮑﺷ ﻦﻳﺍ ﺭﺩ
ﻭ ﻝﺪـﻣ ﯼﺎـﻫ
ﯽﻣ ﻝﺪﻣ ﯽﺟﻭﺮﺧ ،ﺪﻋﺎﺳ ﺭﺩ ﻩﺪﺷ ﺩﺎﺠﻳﺍ ﺭﻭﺎﺘﺸﮔ
ﺷﺎﺑ ﻨ ﺪ . ﻞﻣﺎﮐ ﯽﺜﺤﺑ ﯼﺍﺮﺑ
ﺮﺗ
ﻝﺪﻣ ﺓﺭﺎﺑﺭﺩ ﯼﺯﺎﺳ
ﻪﺑ ] ۱۴ [ ﺪﻴﻳﺎﻤﻧ ﻪﻌﺟﺍﺮﻣ .
۳
‐ ۳
‐ ﻝﺪﻣ ﺪﻋﺎﺳ ﯼﺰﻐﻣ ﻝﺮﺘﻨﮐ ﯼﺯﺎﺳ ]
۱۴ [
ﻥﺎﺴﻧﺍ ﺰﻐﻣ ﻪﮑﺒـﺷ ﻞﺻﺍﺭﺩ
ﯽـﻣ ﯽﺒﺼـﻋ ﯼﺎﻬﻟﻮﻠـﺳ ﺯﺍ ﻩﺪـﻴﭽﻴﭘ ﯼﺍ ﻪـﮐ ﺪـﺷﺎﺑ
ﺖﺳﺍ ﯼﺮﻴﮔﺩﺎﻳ ﺕﺭﺪﻗ ﺎﻬﻧﺁ ﯽﮔﮋﻳﻭ ﻦﻳﺮﺘﻤﻬﻣ .
ﻦﻴـﻟﻭﺍ ﯼﺍﺮـﺑ ﺍﺭ ﯽـﺘﮐﺮﺣ ﺮﮔﺍ
ﺭﺩﺎـﻗ ﻥﺍﻭﺍﺮـﻓ ﺖﻗﺩ ﻑﺮﺻ ﺎﺑ ﻭ ﯼﺪﻨﮐ ﻪﺑ ﺎﻣ ﻲﺘﮐﺮﺣ ﻢﺘﺴﻴﺳ ﻢﻴﻫﺩ ﻡﺎﺠﻧﺍ ﺭﺎﺑ ﺭﺩﺎـﻗ ﺕﺎـﮐﺮﺣ ﺢﻴﺤﺼـﺗ ﻭ ﺭﺍﺮﮑﺗ ،ﻦﻳﺮﻤﺗ ﺎﺑ ﯽﻟﻭ ،ﺩﻮﺑ ﺪﻫﺍﻮﺧ ﻥﺁ ﻡﺎﺠﻧﺍ ﻪﺑ ﺭ ﺖﮐﺮﺣ ﻥﺎﻤﻫ ﺩﻮﺑ ﻢﻴﻫﺍﻮﺧ ﻪﺑ ﺍ
ﻢﻴـﻫﺩ ﻡﺎـﺠﻧﺍ ﺖﻋﺮـﺳ .
ﻪـﺑ ،ﺮـﮕﻳﺩ ﺕﺭﺎـﺒﻋ
ﺩﻮﻤﻧ ﻢﻴﻫﺍﻮﺧ ﺍﺪﻴﭘ ﺍﺭ ﺭﻮﺑﺰﻣ ﺖﮐﺮﺣ ﻡﺎﺠﻧﺍ ﺕﺭﺎﻬﻣ .
ﯽﺸـﺨﺑ ﺖـﻟﺎﺣ ﻦﻳﺍ ﺭﺩ
ﯽـﻣ ﺵﺯﻮـﻣﺁ ﺖﮐﺮﺣ ﻡﺎﺠﻧﺍ ﯼﺍﺮﺑ ﺰﻐﻣ ﯽﺒﺼﻋ ﺔﮑﺒﺷ ﺯﺍ
ﺪـﻨﻴﺑ . ﻦـﻳﺍ ﯼﺩﻭﺭﻭ
ﻝﺎﻨﮕﻴﺳ ﻥﺁ ﯽﺟﻭﺮﺧ ﻭ ﯽﺘﮐﺮﺣ ﻥﺎﻣﺮﻓ ،ﻪﮑﺒﺷ
ﯽﻣ ﺐﺳﺎﻨﻣ ﯽﺒﺼﻋ ﯼﺎﻫ
ﺪﺷﺎﺑ .
ﻪﮑﺒﺷ ﻦﻴﻨﭼ ﻞﮑﺷ ﺭﺩ ﯼﺍ
) ۹ ( ﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺖ
.
ﯽﺘﮐﺮﺣ ﻥﺎﻣﺮﻓ ﺎﺑ ﺮﻇﺎﻨﺘﻣ ﯽﺒﺼﻋ ﻝﺎﻨﮕﻴﺳ ﺪﻴﻟﻮﺗ : ۹ ﻞﮑﺷ
2 Moment Arm
ﺰﻐﻣ ﯽﺒﺼﻋ ﻝﺎﻨﮕﻴﺳ θ
ﻪﭽﻴﻫﺎﻣ τ
ﺪﻋﺎﺳ EMG
θ Force Fmax
F0
V0
Vshortening
Velongation
ﯽﺘﮐﺮﺣ ﻥﺎﻣﺮﻓ ﻪﮑﺒﺷ ﺯﺍ ﯽﺸﺨﺑ ﺰﻐﻣ ﯽﺒﺼﻋ
ﯽﺒﺼﻋ ﻝﺎﻨﮕﻴﺳ
ﻞﮑﺷ ۱۰ : ﺰﻐﻣ ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ _
ﻪﻠﻀﻋ _ ﺪﻋﺎﺳ
ﺰﻐﻣ ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ _
ﻪﻠﻀﻋ _ ﻞﮑﺷ ﺭﺩ ﺪﻋﺎﺳ )
۱۰ ( ﺖـﺳﺍ ﻩﺪـﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ .
ﺕﺭﻮـﺻ ﺕﻼﻀـﻋ ﺭﺩ ﻡﺯﻻ ﮏـﻳﺮﺤﺗ ،ﺐـﺳﺎﻨﻣ ﯽﺒﺼـﻋ ﻝﺎﻨﮕﻴـﺳﺭﻭﺪﺻ ﺎﺑ ﯽﻣ ﺎﺗ ﺩﺮﻴﮔ ﺪﻨﻳﺎﻤﻧ ﻭﺮﻴﻧ ﺪﻴﻟﻮﺗ ﻭ ﻩﺪﺷ ﺾﺒﻘﻨﻣ .
ﺭﻮﺨﺴﭘ ﺭﻭﺎﺘﺸـﮔ ﻭ ﺖﻴﻌﻗﻮﻣ١
ﻥﻭﺭﺩ ﯼﺎﻫﺮﮕﺴﺣ ﻖﻳﺮﻃ ﺯﺍ ﻩﺪـﻧﺍﺩﺮﮔﺯﺎﺑ ﺰـﻐﻣ ﻪـﺑ ﻲﻳﺎﻨﻴﺑ ﻢﺘﺴﻴﺳ ﺰﻴﻧ ﻭ ﯽﺘﻓﺎﺑ
ﯽﻣ ﺩﻮـﺷ ﻪﺘﺴـﺑ ﻝﺮـﺘﻨﮐ ﺔﻘﻠﺣ ﺎﺗ ﺩﻮﺷ .
ﻊـﻗﺍﻭﺭﺩ ﺰـﻐﻣ ﺐـﺳﺎﻨﻣ ﮏـﻳﺮﺤﺗ ﺎـﺑ
ﻪﺑ ﺎﻳ ﺕﻼﻀﻋ
ﺎﺑ ﺮﮕﻳﺩ ﺕﺭﺎﺒﻋ ﻨﺗ
ﯽﻣ ﺎﻬﻧﺁ ﺖﻴﻟﺎﻌﻓ ﺢﻄﺳ ﻢﻴﻈ ﺮـﺘﻨﮐ ﻪـﺑ ﺪﻧﺍﻮﺗ
ﻝ
ﺍ ﺕﺎﮐﺮﺣ ﺪﻳﺎﻤﻧ ﻡﺍﺪﻗ .
ﯽﻣ ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ
ﺯﺍ ﻥﺍﻮﺗ ﻪﻴﺒﺷ ﮎﻮﻠﺑ
ﻪﮐ ﻪﻠﻀﻋ ﯼﺯﺎﺳ
ﯼﺍﺮﺑ ﺪﺷ ﯽﻓﺮﻌﻣ ﻞﺒﻗ ﺶﺨﺑ ﺭﺩ ﻪﺑﺎﺸﻣ
ﺪﻋﺎـﺳ ﺕﺎـﮐﺮﺣ ﻝﺮـﺘﻨﮐ ﺓﻮﺤﻧ ﯼﺯﺎﺳ
ﻂﺳﻮﺗ ﺰﻐﻣ ﺩﻮﻤﻧ ﻩﺩﺎﻔﺘﺳﺍ .
ﺭﺩ ﻩﺪـﺷ ﻩﺩﺍﺩ ﻥﺎﺸـﻧ ﻡﺍﺮﮔﺎﻳﺩ ﺯﺍ ﺭﻮﻈﻨﻣ ﻦﻳﺍ ﯼﺍﺮﺑ
ﻞﮑﺷ ) ۱۱ ( ﯽﻣ ﻩﺩﺎﻔﺘﺳﺍ ﻢﻴﻳﺎﻤﻧ
.
ﺪﻋﺎﺳ_ﻪﻠﻀﻋ_ﺰﻐﻣ ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ ﯼﺯﺎﺳﻪﺑﺎﺸﻣ ﻡﺍﺮﮔﺎﻳﺩ : ۱۱ ﻞﮑﺷ ﮎﻮﻠﺑ ،ﻡﺍﺮﮔﺎﻳﺩ ﻦﻳﺍ ﺭﺩ
Brain
ﺢﻄـﺳ ﺪـﻴﻟﻮﺗ ﺔـﻔﻴﻇﻭ ﻪﮐ ﺖﺳﺍ ﺰﻐﻣ ﺯﺍ ﯽﻟﺪﻣ
ﺎﻳ ﺖﻴﻟﺎﻌﻓ ﺩﺭﺍﺩ ﻩﺪـﻬﻋﺮﺑ ﺍﺭ ﺕﺎـﮐﺮﺣ ﯼﺍﺮـﺑ ﻡﺯﻻAL
AL . ﻪـﺑ ﻩﺪـﺷ ﺪـﻴﻟﻮﺗ
ﻝﺪـﻣ ﺕﻼﻀـﻋ ﯼﺎـﻫ ،ﻩﺪـﺷ ﺩﺭﺍﻭ
ﯼﺎﻫﺭﻭﺎﺘﺸـﮔ ﺪـﻨﻳﺁﺮﺑ ﻞـﺻﺎﺣ
ﻝﺪـﻣ ﻪـﺑ
ﯽـﻣ ﻝﺎـﻤﻋﺍ ﺪﻋﺎﺳ ﯽﮑﻴﻣﺎﻨﻳﺩ
ﺩﺭﻮـﻣ ﺕﺎـﮐﺮﺣ ﺎـﺗ ﺩﺩﺮـﮔ ﺪـﻧﺮﻴﮔ ﻡﺎـﺠﻧﺍ ﺮﻈﻧ
.
ﯽﻣ ﻩﺪﻧﺍﺩﺮﮔﺯﺎﺑ ﺰﻐﻣ ﻝﺪﻣ ﻪﺑ ﺭﻭﺎﺘﺸﮔ ﻭ ﺖﻴﻌﻗﻮﻣ ﯼﺎﻫﺭﻮﺨﺴﭘ
ﺔـﻘﻠﺣ ﺎـﺗ ﺩﻮﺷ
ﺩﻮﺷ ﻪﺘﺴﺑ ﻝﺮﺘﻨﮐ .
ﻝﺪﻣ ﯼﺍﺮﺑ ﺪﻴﻟﻮﺗ ﺓﻮﺤﻧ ﯼﺯﺎﺳ ﺯﺍAL
ﻞﮑﺷ ) ۱۲ ( ﻩﺩﺎﻔﺘـﺳﺍ
ﯽﻣ ﻢﻴﻳﺎﻤﻧ .
ﺰﻐﻣ ﻝﺪﻣ ﺭﺩ AL ﺪﻴﻟﻮﺗ ﺔﮑﺒﺷ ﺭﺩ ﺩﻮﺟﻮﻣ ﯼﺎﻬﺸﺨﺑ : ۱۲ ﻞﮑﺷ
ﯽﺘﮐﺮﺣ ﻥﺎﻣﺮﻓ ﺩﺎﺠﻳﺍ ﺎﺑ
command
ﺶـﺨﺑ ﻂـﺳﻮﺗ ﯽـﺘﮐﺮﺣ ﺏﻮﻠﻄﻣ ﺮﻴﺴﻣ ،
Path_gen
ﯽــﻣ ﺪــﻴﻟﻮﺗ ﺩﺩﺮــﮔ
. ﮎﻮــﻠﺑ ﺩﺭﺍﻭ ﻩﺪــﺷ ﺪــﻴﻟﻮﺗ ﺮﻴﺴــﻣ ﯼﺎــﻫ
Arm_Dynamics Biceps ،
Triceps ﻭ ﯽــﻣ ﺩﺩﺮــﮔ . ﮎﻮــﻠﺑ ﻦــﻳﺍ ﯼﻭﺎــﺣ ﺎــﻫ
،ﺪﻋﺎﺳ ﯽﺘﮐﺮﺣ ﮏﻴﻣﺎﻨﻳﺩ ﻪﺑ ﻁﻮﺑﺮﻣ ﺕﺎﻋﻼﻃﺍ ﻝﺪـﻣ
ﻭ ﺮـﺳﻭﺩ ﺔﻠﻀـﻋ ﻝﺪـﻣ
ﻪﺳ ﺔﻠﻀﻋ ﯽﻣ ﺮﺳ ﺷﺎﺑ ﻨ ﺪ . ﯽـﻣ ﯽﺗﺎـﻋﻼﻃﺍ ﻦﻴـﻨﭼ ﺰـﻴﻧ ﻥﺎﺴﻧﺍ ﺰﻐﻣ ﺭﺩ ﺪـﻧﺍﻮﺗ
ﺯﺍ
ﺩﺩﺮـﮔ ﺩﺎـﺠﻳﺍ ﺭﺍﺮـﮑﺗ ﻭ ﻦﻳﺮﻤﺗ ﻖﻳﺮﻃ .
ﮎﻮـﻠﺑ ﯽـﺟﻭﺮﺧ
Arm_Dynamics
1 Feed back ﮎﻮﻠﺑ ﯽﺟﻭﺮﺧ ﻭ ﺏﻮﻠﻄﻣ ﺮﻴﺴﻣ ﺭﺩ ﺪﻋﺎﺳ ﺖﮐﺮﺣ ﯼﺍﺮﺑ ﻡﺯﻻ ﺭﻭﺎﺘﺸﮔ
ﯼﺎـﻫ
Biceps
ﻭ
Triceps
، ﺭﺩ ﺕﻼﻀـﻋ ﻦـﻳﺍ ﻂﺳﻮﺗ ﺪﻴﻟﻮﺗ ﻞﺑﺎﻗ ﺭﻭﺎﺘﺸﮔ ﺮﺜﮐﺍﺪﺣ
ﺖﺳﺍ ﺮﻴﺴﻣ ﻥﺎﻤﻫ .
ﺕﻼﻀـﻋ ﻂﺳﻮﺗ ﺪﻴﻟﻮﺗ ﻞﺑﺎﻗ ﺭﻭﺎﺘﺸﮔ ﺮﺜﮐﺍﺪﺣ ﻪﮐﺎﺠﻧﺁ ﺯﺍ
ﺭﻭﺎﺘﺸﮔ ﺯﺍ ﺮﺘﺸﻴﺑ ﻻ
ﯽﻣ ﺖﮐﺮﺣ ﯼﺍﺮﺑ ﻡﺯ ﺯﺍ ﻩﺩﺎﻔﺘـﺳﺍ ﻪـﺑ ﯽـﻣﻭﺰﻟ ﺍﺬـﻟ ،ﺪـﺷﺎﺑ
ﯽﻤﻧ ﺕﻼﻀﻋ ﻥﺍﻮﺗ ﺮﺜﮐﺍﺪﺣ
ﺪﺷﺎﺑ . ﺶﺨﺑ
AL_gen
،ﻡﺯﻻ ﺭﻭﺎﺘﺸﮔ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ
ﯽﻣ ﺪﻴﻟﻮﺗ ﯽﺒﺳﺎﻨﻣ AL
ﻡﺎﺠﻧﺍ ﯼﺍﺮﺑ ﺍﺭ ﺕﻼﻀﻋ ﻥﺍﻮﺗ ﻞﮐ ﺯﺍ ﯼﺪﺻﺭﺩ ﺎﺗ ﺪﻳﺎﻤﻧ
ﻪﺑ ﺖﮐﺮﺣ ﺩﺮﻴﮕﺑ ﺖﻣﺪﺧ .
ﯽﻣ ﺰﻐﻣ ﻝﺪﻣ ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ ﺔـﻧﻮﻤﻧ ﻪﺑﺎﺸـﻣ ﺪـﻧﺍﻮﺗ
ﺩﻮﺧ ﯽﻌﻴﺒﻃ ﻝﺎـﺳﺭﺍ ﺎﺑ
ﺪﺸـﺨﺑ ﻖـﻘﺤﺗ ﺍﺭ ﺏﻮـﻠﻄﻣ ﺕﺎـﮐﺮﺣ ﺐـﺳﺎﻨﻣAL
.
ﺶـﺨﺑ ﺭﺩ ﺭﻭﺎﺘﺸـﮔ ﻭ ﺖﻴﻌﻗﻮﻣ ﯼﺎﻫﺭﻮﺨﺴﭘ ﻝﺎﻤﻋﺍ ﺎﺑ ﺭﻮﻄﻨﻴﻤﻫ
Path_gen
ﯽﻣ ﻪﺘﺴﺑ ﻝﺮﺘﻨﮐ ﺔﻘﻠﺣ ﺩﻮﺷ
.
۳
‐ ۴
‐ ﺰﺗﻭﺮﭘ ﻝﺮﺘﻨﮐ
ﻞﮑﺷ ) ۱۳ ( ﺪﻋﺎـﺳ ﻦﻳﺰﮕﻳﺎﺟ ﺰﺗﻭﺮﭘ ﻪﮐ ﯽﺘﻟﺎﺣ ﺭﺩ ﺍﺭ ﺪﻋﺎﺳ ﯽﺘﮐﺮﺣ ﻢﺘﺴﻴﺳ
ﯽﻣ ﻥﺎﺸﻧ ﺖﺳﺍ ﻩﺪﺷ ﺪﻫﺩ
.
ﻞﮑﺷ ۱۳ : ﻴﺳ ﺰﺗﻭﺮﭘ ﯽﻨﻳﺰﮕﻳﺎﺟ ﺎﺑ ﺪﻋﺎﺳ ﯽﺘﮐﺮﺣ ﻢﺘﺴ
ﯽﻣ ﺍﺭﺍﺩ ﺍﺭ ﺩﻮﺧ ﻖﺑﺎﺳ ﺩﺮﮑﻠﻤﻋ ﻥﺎﻨﭽﻤﻫ ﻪﻠﻀﻋ ﻭ ﺰﻐﻣ ﺖﻟﺎﺣ ﻦﻳﺍ ﺭﺩ
ﺪﻨـﺷﺎﺑ
ﻪﺑ ﯽﻟﻭ ﻡﺎـﺠﻧﺍ ﺰـﺗﻭﺮﭘ ﺭﺩ ﯽـﺘﮐﺮﺣ ،ﺰـﺗﻭﺮﭘ ﻭ ﻪﻠﻀـﻋ ﻦﻴﺑ ﻁﺎﺒﺗﺭﺍ ﻡﺪﻋ ﻞﻴﻟﺩ
ﯽﻤﻧ ﺩﺮﻴﮔ . ﯽـﻣ ﻊﻄﻗ ﺭﻭﺎﺘﺸﮔ ﻭ ﺖﻴﻌﻗﻮﻣ ﺭﻮﺨﺴﭘ ﯼﺎﻫﺮﻴﺴﻣ ﻦﻴﻨﭽﻤﻫ ـﺷﺎﺑ
ﻨ ﺪ .
ﯼﺍﺮﺑ ﯼﮊﻮﻟﻮﭘﻮﺗ ﺯﺍ ﯽﺘﮐﺮﺣ ﻢﺘﺴﻴﺳ ﻢﻴﻣﺮﺗ ﺸﻧ
ﻞﮑـﺷ ﺭﺩ ﻩﺪـﺷ ﻩﺩﺍﺩ ﻥﺎ )
۱۴ (
ﯽﻣ ﻩﺩﺎﻔﺘﺳﺍ ﻢﻴﻳﺎﻤﻧ
.
ﯽﺘﮐﺮﺣ ﻢﺘﺴﻴﺳ ﻢﻴﻣﺮﺗ ﯼﺍﺮﺑ ﯽﻟﺮﺘﻨﮐ ﯼﮊﻮﻟﻮﭘﻮﺗ : ۱۴ ﻞﮑﺷ
ﻪﺑ ﺪﺷ ﻪﺘﻔﮔ ﻪﮐﺭﻮﻄﻧﺎﻤﻫ
ﻞﻴﻟﺩ ،ﺰـﺗﻭﺮﭘﻭ ﺕﻼﻀـﻋ ﻦﻴـﺑ ﯽﮑﻳﺰﻴﻓ ﻁﺎﺒﺗﺭﺍ ﻡﺪﻋ
ﻲﻤﻧ ﺕﻼﻀﻋ ﮏﻳﺮﺤﺗ
ﺪﻧﺍﻮﺗ ﺰﺗﻭﺮﭘ ﺖﮐﺮﺣ ﻪﺑ ﺮﺠﻨﻣ
ﻥﺎـﻨﭽﻤﻫ ﯽـﻟﻭ ﺩﺩﺮـﮔ
ﯽﻣ ﺐﺟﻮﻣ ﺪﻧﺍﻮﺗ ﻟﻮﺗ
ﻝﺎﻨﮕﻴﺳ ﺪﻴ ﺩﻮﺷEMG
. ﻝﺮـﺘﻨﮐ ﺖـﻟﺎﺣ ﻦـﻳﺍ ﺭﺩ
ﻩﺪـﻨﻨﮐ
ﯽﻣ ﻪﺑ ﺪﻧﺍﻮﺗ ﺕﺭﻮﺻ ﻪﻄﺳﺍﻭ ﺪﻳﺎﻤﻧ ﻞﻤﻋ ﺰﺗﻭﺮﭘ ﻭ ﻪﻠﻀﻋ ﻦﻴﺑ ﯼﺍ .
ﺖـﻓﺎﻳﺭﺩ ﺎـﺑ
ﻝﺎﻨﮕﻴﺳ ﺖﮐﺮﺣ ﻪﺑ ﻁﻮﺑﺮﻣ ﺕﺎﻋﻼﻃﺍ ﯼﻭﺎﺣ ﻪﮐ ﻪﻠﻀﻋ ﺭﺩ ﻩﺪﺷﺪﻴﻟﻮﺗ EMG
ﯽﻣ ﺏﻮﻠﻄﻣ
ﺐﺳﺎﻨﻣ ﺭﻭﺎﺘﺸﮔ ،ﺪﺷﺎﺑ ﻝﺮﺘﻨﮐ ﻂﺳﻮﺗ
ﻩﺪـﻨﻨﮐ ﻪـﺑ ﻭ ﻪﺘﺸـﮔ ﺪـﻴﻟﻮﺗ
ﯽﻣ ﻝﺎﻤﻋﺍ ﺰﺗﻭﺮﭘ
ﺰﻣ ﺖﮐﺮﺣ ﺎﺗ ﺩﺩﺮﮔ ﺩﺮﻴﮔ ﻡﺎﺠﻧﺍ ﺭﻮﺑ
. ﯼﺎﻫﺭﻮﺨﺴـﭘ ﻦﻴﻨﭽﻤﻫ
ﻝﺮﺘﻨﮐ ﻪﺑ ﺰﻴﻧ ﺭﻭﺎﺘﺸﮔ ﻭ ﺖﻴﻌﻗﻮﻣ
ﯽﻣ ﻩﺪﻧﺍﺩﺮﮔﺯﺎﺑ ﻩﺪﻨﻨﮐ
ﺎﺗ ﺪﻧﻮﺷ ﻝﺮـﺘﻨﮐ ﺔﻘﻠﺣ
ﺩﻮﺷ ﻪﺘﺴﺑ . ﯽﻣ ﻒﻴﺻﻮﺗ ﻦﻳﺍ ﺎﺑ
ﻝﺮﺘﻨﮐ ﻥﺍﻮﺗ ﻪﺑ ﺍﺭ ﻩﺪﻨﻨﮐ ﺮﻈﻧﺭﺩ ﯽﮐﻮﻠﺑ ﺕﺭﻮﺻ
θ τ
ﻪﻠﻀﻋ EMG
ﺰﻐﻣ ﺮﻟﺮﺘﻨﮐ ﺰﺗﻭﺮﭘ
ﺰﻐﻣ θ
ﻝﺎﻨﮕﻴﺳ ﯽﺒﺼﻋ
τ
ﺰﺗﻭﺮﭘ
EMG ﻪﭽﻴﻫﺎﻣ
Brain Biceps
Triceps
Arm
τ
τ τb
τt
θ ALb
ALt
θ
++
ﻝﺎﻨﮕﻴﺳ ﻥﺁ ﯼﺩﻭﺭﻭ ﻪﮐ ﺖﻓﺮﮔ ﺭﻭﺎﺘﺸـﮔ ﻥﺁ ﯽﺟﻭﺮﺧ ﻭ EMG
ﻪـﺑ ﯽﻟﺎـﻤﻋﺍ
ﺰﺗﻭﺮﭘ ﯽﻣ ﺪﺷﺎﺑ . ﯼﺍﺮﺑ ﻪﮐ ﯽﺷﻭﺭ ﻦﻴﻟﻭﺍ ﯽﻣ ﻦﻫﺫ ﻪﺑ ﮎﻮﻠﺑ ﻦﻳﺍ ﯽﺣﺍﺮﻃ
ﺪـﺳﺭ
ﺵﻭﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ
ﺖﺳﺍ ﻲﻳﺎﺳﺎﻨﺷ ﯼﺎﻫ .
ﻩﺯﺍﺪﻧﺍ ﺎﺑ ﯽﻨﻌﻳ
ﻝﺎﻨﮕﻴـﺳ ﯼﺮﻴﮔ
EMG
ﻝﺮﺘﻨﮐ ،ﻪﻃﻮﺑﺮﻣ ﺭﻭﺎﺘﺸﮔ ﻭ
ﺍﺭ ﺪﻋﺎﺳ ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ ﺭﺩ ﺩﻮﺟﻮﻣ ﯽﻌﻴﺒﻃ ﺓﺪﻨﻨﮐ
ﻤﻧ ﺝﺍﺮﺨﺘﺳﺍ ﻢﻴﻳﺎـﻤﻧ ﻝﺎـﻤﻋﺍ ﺰـﺗﻭﺮﭘ ﯽﻟﺮﺘﻨﮐ ﻢﺘﺴﻴﺳ ﺭﺩ ﻭ ﻩﺩﻮ
. ﻦـﻳﺍ ﻞﮑﺸـﻣ
ﺎﺘﺸﮔ ﻪﺑ ﻁﻮﺑﺮﻣ ﺕﺎﻋﻼﻃﺍ ﻥﺩﻮﺒﻧ ﺖﺳﺩ ﺭﺩ ﺵﻭﺭ ﻪﺑ ﻝﻮﻠﻌﻣ ﺩﺮﻓ ﺭﺩ ﺭﻭ
ﻞـﻴﻟﺩ
ﻝﺎﻨﮕﻴـﺳ ﻥﺩﻮـﺑ ﯽﻓﺩﺎﺼـﺗ ﺰـﻴﻧ ﻭ ﯽـﺘﮐﺮﺣ ﺶـﺨﺑ ﻥﺍﺪﻘﻓ ﯽـﻣ EMG
ﺪـﺷﺎﺑ
ﺭﻮﻄﺑ ﻳ ﺭﺩ ﻪﻧ ﺕﺎﻋﻼﻃﺍ ﻪﮑ ﻪﻧﻮﻤﻧ
ﻪـﻈﺤﻟ ﯼﺎﻫ ﺹﺍﻮـﺧ ﺭﺩ ﻪـﮑﻠﺑ ﻝﺎﻨﮕﻴـﺳ ﯼﺍ
ﺖﺳﺍ ﻪﺘﻔﻬﻧ ﻥﺁ ﯼﺭﺎﻣﺁ .
ﻩﺪﺷ ﻪﺋﺍﺭﺍ ﯼﮊﻮﻟﻮﭘﻮﺗ ،ﻩﺪﺷ ﺮﮐﺫ ﺕﻼﮑﺸﻣ ﻊﻓﺭ ﯼﺍﺮﺑ
ﻞﮑﺷ ﺭﺩ ) ۱۵ ( ﯽﻣ ﺩﺎﻬﻨﺸﻴﭘ ﺩﺩﺮﮔ
.
ﻞﮑﺷ ۱۵ : ﺰﻐﻣ ﻝﺪﻣ ﺮﺑ ﯽﻨﺘﺒﻣ ﯽﻟﺮﺘﻨﮐ ﯼﮊﻮﻟﻮﭘﻮﺗ
ﺯﺍ ﻩﺩﺎﻔﺘــﺳﺍ ﺎــﺑ ،ﺖــﮐﺮﺣ ﺺﻴﺨﺸــﺗ ﺶــﺨﺑ ﺭﺩ ﺍﺪــﺘﺑﺍ ،ﯼﮊﻮــﻟﻮﭘﻮﺗ ﻦــﻳﺍ ﺭﺩ ﺵﻭﺭ ﯽـﻣ ﻩﺩﺍﺩ ﺺﻴﺨﺸـﺗ ﯽـﺘﮐﺮﺣ ﺱﻼـﮐ ،ﻮـﮕﻟﺍ ﺖﺧﺎﻨـﺷﺯﺎﺑ ﯼﺎﻫ ﺩﻮـﺷ
.
ﻦﻴﻨﭽﻤﻫ ﻝﺎﻨﮕﻴﺳ IAV
ﯼﺎﻫ ﻪـﺳ ﻭ ﺮﺳﻭﺩ ﺕﻼﻀﻋ EMG
ﯼﻭﺎـﺣ ﻪـﮐ ﺮـﺳ
ﯽﻣ ﺏﻮﻠﻄﻣ ﺖﻋﺮﺳ ﻪﺑ ﻁﻮﺑﺮﻣ ﺕﺎﻋﻼﻃﺍ
ﯽـﻣ ﻪﺒـﺳﺎﺤﻣ ﺪﻨـﺷﺎﺑ
ﮔ ﺪـﻧﺩﺮ . ﻦـﻳﺍ
ﺪﻧﺩﺮﮔ ﯽﻣ ﺰﻐﻣ ﻝﺪﻣ ﺶﺨﺑ ﺩﺭﺍﻭ ﺕﺎﻋﻼﻃﺍ .
ﺶـﺨﺑ ﻦـﻳﺍ ﺭﺩ ﻞﮑـﺷ ﺭﺩ ﻪـﮐ
) ۱۶ ( ﺶﺨﺑﺮﻳﺯ ﻥﺁ ﯼﺎﻫ ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ
، ﻪﺑﺎﺸﻣ ﯼﺰﻐﻣ ﻝﺪﻣ ﻩﺪﺷ ﻪﺋﺍﺭﺍ
ﻞﮑﺷ ﺭﺩ ) ۱۲ ( ﻝﺮـﺘﻨﮐ ﯼﺍﺮـﺑ ﯼﺰـﻐﻣ
،ﺪﻋﺎـﺳ ﯼﺍﺮـﺑ ﻡﺯﻻ ﯼﺎـﻫ AL
ﻡﺎـﺠﻧﺍ
ﯽﻣ ﻪﺒﺳﺎﺤﻣ ﺏﻮﻠﻄﻣ ﺖﮐﺮﺣ
ﺩﺩﺮﮔ . ﻦﻳﺍ ﻝﺎﻤﻋﺍ ﺎﺑ ﺕﻼﻀـﻋ ﻝﺪـﻣ ﻪﺑ ﺎﻫ AL
ﻪﺳ ﻭ ﺮﺳﻭﺩ
ﺳ ﺖـﻬﺟ ﻡﺯﻻ ﺭﻭﺎﺘﺸـﮔ ،ﺎـﻬﻧﺁ ﯼﺎﻫﺭﻭﺎﺘﺸﮔ ﺪﻨﻳﺁﺮﺑ ﺔﺒﺳﺎﺤﻣ ﻭ ﺮ
ﻪﺑ ﻝﺎﻤﻋﺍ ﯽﻣ ﻞﺻﺎﺣ ﺰﺗﻭﺮﭘ
ﺩﺩﺮﮔ . ﺭﺩ ﻩﺪـﺷ ﻩﺩﺎﻔﺘﺳﺍ ﯼﺰﻐﻣ ﻝﺪﻣ ﺕﻭﺎﻔﺗ ﺎﻬﻨﺗ
ﺭﺩ ﻥﺁ ﻝﺩﺎـﻌﻣ ﺎـﺑ ﺰﺗﻭﺮﭘ ﻝﺮﺘﻨﮐ ﺕﺎـﻋﻼﻃﺍ ﺯﺍ ﻩﺩﺎﻔﺘـﺳﺍ ،ﺪﻋﺎـﺳ ﻝﺮـﺘﻨﮐ
IAV
ﮎﻮـﻠﺑ ﺭﺩ ﺕﻼﻀﻋ
Path_gen
ﯽـﻣ ﺪـﺷﺎﺑ . ﻥﺩﺮـﮐ ﻪﻓﺎـﺿﺍ ﯼﺍﺮـﺑ ﺮـﻣﺍ ﻦـﻳﺍ
ﺭﺩ ﺖﻋﺮــﺳ ﻪــﺑ ﻁﻮــﺑﺮﻣ ﺕﺎــﻋﻼﻃﺍ ﯽــﻣ ﺏﻮــﻠﻄﻣ ﺮﻴﺴــﻣ ﯽــﺣﺍﺮﻃ
ﺪــﺷﺎﺑ .
ﺪـﺷ ﺮـﮐﺫ ﻪﮐﺭﻮﻄﻧﺎﻤﻫ ﻝﺎﻨﮕﻴـﺳ IAV
ﯼﺎـﻫ ﺕﺎـﻋﻼﻃﺍ ﻦـﻳﺍ ﯼﻭﺎـﺣ EMG
ﯽﻣ ﺪﺷﺎﺑ .
ﻞﮑﺷ ۱۶ : ﻝﺮﺘﻨﮐ ﺭﺩ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ ﺰﻐﻣ ﻝﺪﻣ ﺰﺗﻭﺮﭘ
۴
‐ ﻪﻴﺒﺷ ﯼﺯﺎﺳ
ﻪﻴﺒﺷ ﯼﺍﺮﺑ ﺍﺭ ﺮـﻳﺯ ﯽـﺘﮐﺮﺣ ﯼﻮﻳﺭﺎﻨـﺳ ،ﺰـﺗﻭﺮﭘ ﺕﺎﮐﺮﺣ ﻝﺮﺘﻨﮐ ﺓﻮﺤﻧ ﯼﺯﺎﺳ
ﯽﻣ ﺮﻈﻧﺭﺩ ﻢﻳﺮﻴﮔ :
۱ . ﺕﺪﻣ ﻪﺑ ﻒﻗﻮﺗ ۲
./
ﻪﻴﻧﺎﺛ
۲ . ﻥﺩﺮﮐ ﻊﻤﺟ ﺕﺪﻣ ﻪﺑ ﺖﻋﺮﺳ ﺮﺜﮐﺍﺪﺣ ﺎﺑ ﺪﻋﺎﺳ
۴ ./
ﻪﻴﻧﺎﺛ
۳ . ﺕﺪﻣ ﻪﺑ ﺮﺘﻤﮐ ﺖﻋﺮﺳ ﺎﺑ ﺪﻋﺎﺳ ﻥﺩﺮﮐ ﻊﻤﺟ ۴
./
ﻪﻴﻧﺎﺛ
۴ . ﺕﺪﻣ ﻪﺑ ﻒﻗﻮﺗ ۲
./
ﻪﻴﻧﺎﺛ
۵ . ﺕﺪﻣ ﻪﺑ ﺖﻋﺮﺳ ﺮﺜﮐﺍﺪﺣ ﺎﺑ ﺪﻋﺎﺳ ﻥﺩﺮﮐ ﺯﺎﺑ ۳
./
ﻪﻴﻧﺎﺛ
۶ . ﺕﺪﻣ ﻪﺑ ﺮﺘﻤﮐ ﺖﻋﺮﺳ ﺎﺑ ﺪﻋﺎﺳ ﻥﺩﺮﮐ ﺯﺎﺑ ۳
./
ﻪﻴﻧﺎﺛ
۷ . ﺕﺪﻣ ﻪﺑ ﻒﻗﻮﺗ ۲
./
ﻪﻴﻧﺎﺛ
ﺭﺩ ﺶﻳﺎﻣﺯﺁ ﻲﻳﺎﻫ ﯽﻃ ﺕﺎﮐﺮﺣ ﻡﺎﺠﻧﺍ ﻕﻮﻓ
، ﺎﻨﮕﻴﺳ
EMG ﻝ ﺮـﺳﻭﺩ ﺕﻼﻀﻋ
ﻪﺳ ﻭ ﯽﻣ ﺖﺒﺛ ﺍﺭ ﺮﺳ ﻢﻴﻳﺎﻤﻧ
. ﻝﺎﻨﮕﻴﺳ ﻦﻳﺍ ﻞﮑﺷ ﺭﺩ ﺎﻫ
) ﻒﻟﺍ
‐ ۱۷ ( ﻩﺩﺍﺩ ﻥﺎﺸـﻧ
ﻩﺪﺷ ﺪﻧﺍ . ﻝﺎﻨﮕﻴﺳ ﻦﻳﺍ ﺪﻴﻟﻮﺗ ﺎﺑ ﺩﺮﻓ
ﻪـﺑ ﺍﺭ ﺩﻮﺧ ﺏﻮﻠﻄﻣ ﺮﻴﺴﻣ ﺎﻫ
ﻩﺩﺍﺩ ﻥﺎﺸـﻧ ﺕﺭﻮـﺻ
ﻞﮑﺷ ﺭﺩ ﻩﺪﺷ )
ﺏ
‐ ۱۷ ( ﯽﻣ ﻦﻴﻴﻌﺗ ﺪﻳﺎﻤﻧ . ﯽﻣ ﻪﻈﺣﻼﻣ ﻪﮐﺭﻮﻄﻧﺎﻤﻫ ﺭﺩ ،ﺩﺩﺮﮔ
ﺖﺳﺍ ﻩﺩﻮﺑ ﺮﻈﻧﺪﻣ ﯼﺮﺗﻻﺎﺑ ﺖﻋﺮﺳ ﻪﮐ ﯽﺗﺎﻈﺤﻟ ﻭ ﺖـﺳﺍ ﺮﺘﺸﻴﺑ ﺮﻴﺴﻣ ﺐﻴﺷ ،
ﺲﮑﻌﻟﺎﺑ . ﻞﮑﺷ ﺭﺩ ) ﭖ
‐ ۱۷ ( ﯽﮑﻴﺘﻧﺮﺒﻳﺎـﺳ ﺪﻋﺎـﺳ ﻂـﺳﻮﺗ ﻩﺪـﺷ ﯽﻃ ﺮﻴﺴﻣ
ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ .
ﻞﮑﺷ ﺭﺩ ﻪﮐﺭﻮﻄﻧﺎﻤﻫ )
ﺕ
‐ ۱۷ ( ﯽـﻣ ﻪﻈﺣﻼﻣ
،ﺩﺩﺮـﮔ
ﻪـﮐ ﺮﻴﺴﻣ ﻭﺩ ﻦﻳﺍ ﻑﻼﺘﺧﺍ ﺮﮕﻧﺎـﻴﺑ
ﺖـﻴﻌﻗﻮﻣ ﯼﺎـﻄﺧ ﺰﻴﭼﺎـﻧ ﺭﺎﻴﺴـﺑ ﺖـﺳﺍ
ﯽﻣ ﺪﺷﺎﺑ . ﻞﮑﺷ ﺭﺩ ) ﺙ
‐ ۱۷ ( ﻩﺍﺮـﻤﻫ ﻪﺑ ﺮﻴﺴﻣ ﻝﻮﻃ ﺭﺩ ﺩﺮﻓ ﺏﻮﻠﻄﻣ ﺖﻋﺮﺳ
ﻋﺮﺳ ﻞﮑﺷ ﺭﺩ ﻭ ﺰﺗﻭﺮﭘ ﺖ )
ﺝ
‐ ۱۷ ( ﻥﺎﺸـﻧ ﻪﮐ ﺎﻬﻧﺁ ﻑﻼﺘﺧﺍ
ﯼﺎـﻄﺧ ﺓﺪـﻨﻫﺩ
ﯽﻣ ﺖﻋﺮﺳ ﺖﺳﺍ ﻩﺪﻣﺁ ﺪﺷﺎﺑ .
ﺯﺎـﺠﻣ ﺖﻋﺮـﺳ ﺮﺜﮐﺍﺪـﺣ ﻪـﮑﻨﻳﺍ ﻪـﺑ ﻪـﺟﻮﺗ ﺎﺑ
،ﺖﮐﺮﺣ ۱۵۰ ﺮـﻈﻧﺭﺩ ﻪﻴﻧﺎﺛ ﺮﺑ ﻪﺟﺭﺩ
ﯼﺎـﻄﺧ ﺮﺜﮐﺍﺪـﺣ ،ﺖـﺳﺍ ﻩﺪـﺷ ﻪـﺘﻓﺮﮔ
ﺯﺍ ﺮﺘﻤﮐ ﺖﻋﺮﺳ ۴
ﺪﺻﺭﺩ ﺩﻮﺑ ﺪﻫﺍﻮﺧ .
ﻪﻴﺒﺷ ﺞﻳﺎﺘﻧ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ
ﯽﻣ ﯼﺯﺎﺳ ﻮﭘﻮﺗ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ،ﺖﻔﮔ ﻥﺍﻮﺗ ﺩﺎﻬﻨﺸـﻴﭘ ﯼﮊﻮﻟ
ﺎـﺑ ﻝﻮﻠﻌﻣ ﺩﺮﻓ ﺏﻮﻠﻄﻣ ﺮﻴﺴﻣ ﺭﺩ ﺰﺗﻭﺮﭘ ﺖﮐﺮﺣ ﻪﺑ ﺮﺠﻨﻣ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ ﻩﺪﺷ ﯽﻣ ﯼﻭ ﻩﺍﻮﺨﻟﺩ ﺖﻋﺮﺳ
ﺩﺩﺮﮔ . ﹰﻼﻣﺎﮐ ﯽﺗﺎﮐﺮﺣ ،ﺰﺗﻭﺮﭘ ﺕﺎﮐﺮﺣ ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ
ﺩﻮﺑ ﺪﻨﻫﺍﻮﺧ ﺩﺮﻓ ﻂﺳﻮﺗ ﻝﺮﺘﻨﮐ ﻞﺑﺎﻗ ﻭ ﯽﻌﻴﺒﻃ .
،ﺖـﻴﻘﻓﻮﻣ ﻦـﻳﺍ ﯽﻠﺻﺍ ﻞﻣﺎﻋ
ﺰﻐﻣ ﻝﺪﻣ ﻂﺳﻮﺗ ﺏﻮﻠﻄﻣ ﺭﻭﺎﺘﺸﮔ ﻢﻴﻘﺘﺴﻣ ﻦﻴﻤﺨﺗ
‐ ﻥﺁ ﻝﺎـﻤﻋﺍ ﻭ ﻪﻠﻀﻋ ﻪـﺑ
ﯽﻣ ﺰﺗﻭﺮﭘ ﺪﺷﺎﺑ . ﻝﺎﻨﮕﻴـﺳ ﺩﻭﺭﻭ ﺎﺑ
ﯼﺎـﻫ ﻝﺮـﺘﻨﮐ ﻪـﺑ EMG
ﺭﻭﺎﺘﺸـﮔ ،ﻩﺪـﻨﻨﮐ
ﯽﻣ ﻪﺒﺳﺎﺤﻣ ﺰﺗﻭﺮﭘ ﻪﺑ ﯽﻟﺎﻤﻋﺍ
ﺩﺩﺮـﮔ . ﻞﮑـﺷ ﺭﺩ )
ﭺ
‐ ۱۷ ( ﺎـﺑ ﺭﻭﺎﺘﺸـﮔ ﻦـﻳﺍ
ﺖـﺳﺍ ﻩﺪـﺷ ﻪﺴﻳﺎﻘﻣ ﺏﻮﻠﻄﻣ ﺭﻭﺎﺘﺸﮔ .
ﯽـﻣ ﻪـﻈﺣﻼﻣ ﻪـﮐ ﺭﻮﻄﻧﺎـﻤﻫ
ﺩﺩﺮـﮔ
ﺎـﻳ ﯽـﺘﮐﺮﺣ ﺱﻼﮐ ﺮﻴﻴﻐﺗ ﺯﺍ ﺲﭘ ﯽﻫﺎﺗﻮﮐ ﺕﺎﻈﺤﻟ ﺭﺩ ﺭﻭﺎﺘﺸﮔ ﻭﺩ ﻑﻼﺘﺧﺍ ﻣ ﺖﮐﺮﺣ ﺖﻋﺮﺳ ﺮﻴﻴﻐﺗ ﯽ
ﺪﺷﺎﺑ .
ﻭ ﺰﻐﻣ ﻪﻠﻀﻋ
ﺺﻴﺨﺸﺗ ﺖﮐﺮﺣ
EMG
Class Bic_IAV Tri_IAV
ﺰﻐﻣ ﻝﺪﻣ Biceps ﻝﺪﻣ
Triceps ﻝﺪﻣ
AL_Bic
AL_Tri τd ﺰﺗﻭﺮﭘ
ﺪﻋﺎﺳ θ
) ﻒﻟﺍ ( )
ﺏ ( )
ﭖ (
(ﺙ) (ﺕ)
) ﺝ ( )
ﭺ (
ﻞﮑﺷ ۱۷ : ﻒﻟﺍ EMG ( ﺮﺳﻭﺩ ﺕﻼﻀﻋ )
ﭗﭼ ( ﻪﺳ ﻭ ﺮﺳ ) ﺖﺳﺍﺭ ( ﺏ ، ( ﭖ ،ﺏﻮﻠﻄﻣ ﺮﻴﺴﻣ (
ﺕ ،ﺰﺗﻭﺮﭘ ﻂﺳﻮﺗ ﻩﺪﺷ ﯽﻃ ﺮﻴﺴﻣ (
ﯼﺎﻄﺧ ﺙ ،ﺖﻴﻌﻗﻮﻣ (
ﻭ ﺏﻮﻠﻄﻣ ﺖﻋﺮﺳ
ﺝ ،ﺰﺗﻭﺮﭘ ﺖﻋﺮﺳ (
ﭺ ،ﺖﻋﺮﺳ ﯼﺎﻄﺧ (
ﺰﺗﻭﺮﭘ ﻪﺑ ﯽﻟﺎﻤﻋﺍ ﺭﻭﺎﺘﺸﮔ ﻭ ﺏﻮﻠﻄﻣ ﺭﻭﺎﺘﺸﮔ
٥
‐ ﻪﺠﻴﺘﻧ ﯼﺮﻴﮔ
ﺎﺑ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ ﻝﺪﻣ
ﻪﺑﺎﺸﻣ ﻭ ﯼﺯﺎﺳ
ﺰـﻐﻣ ﻢﺘﺴـﻴﺳ ﯼﺯﺎﺳ
‐ ﻪﻠﻀـﻋ
‐ ﻭ ﺪﻋﺎـﺳ
ﻩﺪﻳﺍ ﺝﺍﺮﺨﺘﺳﺍ
ﻪـﺑ ﯽـﻟﺮﺘﻨﮐ ﯼﺎﻫ
ﮏـﻳ ،ﯽـﻌﻴﺒﻃ ﻢﺘﺴـﻴﺳ ﻦـﻳﺍ ﺭﺩ ﻪـﺘﻓﺭ ﺭﺎـﮐ
ﺟ ﺰﻐﻣ ﻝﺪﻣ ﯼﺎﻨﺒﻣﺮﺑ ﺪﻳﺪﺟ ﯼﮊﻮﻟﻮﭘﻮﺗ ﻝﺮﺘﻨﮐ ﺖﻬ
ﯽﮑﻴﺘﻧﺮﺒﻳﺎـﺳ ﺪﻋﺎﺳ ﺰﺗﻭﺮﭘ
ﺪﺷ ﻪﺋﺍﺭﺍ ﺖﺳﺍ ﻩ . ﻭ ﯽـﻌﻴﺒﻃ ﯽﺗﺎـﮐﺮﺣ ﺩﺎـﺠﻳﺍ ﻩﺪـﺷ ﻪﺋﺍﺭﺍ ﯼﮊﻮﻟﻮﭘﻮﺗ ﯽﮔﮋﻳﻭ
ﺎﺑ ﻖﺑﺎﻄﻣ ﻢﻟﺎﺳ ﺪﻋﺎﺳ ﺕﺎﮐﺮﺣ ﻪﺑﺎﺸﻣ ﯽـﻣ ﻝﻮﻠﻌﻣ ﺩﺮﻓ ﺓﺩﺍﺭﺍ
ﺪـﺷﺎﺑ . ﺮـﻣﺍ ﻦـﻳﺍ
ﯽـﻣ ﺰـﺗﻭﺮﭘ ﺖﻋﺮﺳ ﻭ ﺖﻴﻌﻗﻮﻣ ﻥﺎﻣﺰﻤﻫ ﻝﺮﺘﻨﮐ ﺯﺍ ﯽﺷﺎﻧ
ﺪـﺷﺎﺑ . ﻦـﻳﺍ ﯼﺍﺮـﺑ
،ﺭﻮﻈﻨﻣ ﻱﮊﻮـﻟﻮﭘﻮﺗ ﻢﻴﻘﺘﺴـﻣ ﻦﻴـﻤﺨﺗ ﻪـﺑ ﯼﺩﺎﻬﻨﺸـﻴﭘ
ﯼﺍﺮـﺑ ﻡﺯﻻ ﺭﻭﺎﺘﺸـﮔ
ﺖﮐﺮﺣ
، ﻝﺎﻨﮕﻴﺳ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ
ﯼﺎﻫ ﯽﻣ ﯼﺩﻭﺭﻭ ﻡﺍﺮﮔﻮﻳﺎﻣﻭﺮﺘﮑﻟﺍ
ﺩﺯﺍﺩﺮﭘ . ﯼﺍﺮـﺑ
ﺖﺳﺩ ﻝﺮﺘﻨﮐ ،ﻲﻳﺎﻧﺍﻮﺗ ﻦﻳﺍ ﻪﺑ ﯽﺑﺎﻳ
ﺶـﺨﺑ ﺎﺑ ﻩﺪﻨﻨﮐ ،ﺖـﮐﺮﺣ ﺺﻴﺨﺸـﺗ ﻱﺎـﻫ
ﺖﺳﺍ ﻩﺪﺷ ﺰﻴﻬﺠﺗ ﺕﻼﻀﻋ ﻝﺪﻣ ﻭ ﺰﻐﻣ ﻝﺪﻣ .
ﺶـﺨﺑ ﻦﻳﺍ ﻪـﺑ ﻪـﺟﻮﺗ ﺎـﺑ ﺎـﻫ
ﻪﺘﺸﮔ ﯽﺣﺍﺮﻃ ﺩﻮﺧ ﯽﻌﻴﺒﻃ ﻪﺑﺎﺸﻣ
ﺪـﻧﺍﻮﺘﺑ ﻞـﺻﺎﺣ ﺔـﻋﻮﻤﺠﻣ ﻪـﮑﻳﺭﻮﻄﺑ ﺪـﻧﺍ
ﺰﻐﻣ ﻢﺘﺴﻴﺳ ﺩﺮﮑﻠﻤﻋ
‐ ﻪﻠﻀﻋ
‐ ﺖـﺳﺍ ﻩﺪﺷ ﻞﺘﺨﻣ ﻝﻮﻠﻌﻣ ﺩﺮﻓ ﺭﺩ ﻪﮐ ﺍﺭ ﺪﻋﺎﺳ
ﺪﻳﺎﻤﻧ ﻥﺍﺮﺒﺟ .
ﻦﻴﻨﭽﻤﻫ ﻂﺳﻮﺗ ﻪﻴﺒﺷ ﯼﺯﺎﺳ ﻢﺘﺴـﻴﺳ ﻲﻳﺁﺭﺎـﮐ ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﯼﺎﻫ
ﻢﻫ ﻝﺮﺘﻨﮐ ﺭﺩ ﺪﻳﺪﺟ ﯽﻟﺮﺘﻨﮐ ﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺰﺗﻭﺮﭘ ﺖﻋﺮﺳ ﻭ ﺖﻴﻌﻗﻮﻣ ﻥﺎﻣﺯ
.
ﻊﺟﺍﺮﻣ
] ۱
ﺳ ﻡﺍﺮﮔﻮﻳﺎﻣﻭﺮﺘﮑﻟﺍ ﻝﺎﻨﮕﻴﺳ ﯼﺎﻬﻴﮔﮋﻳﻭ ﯽﺗﺎﻋﻼﻃﺍ ﯽﺑﺎﻳﺯﺭﺍ ، ﯽﻧﺎﺘﺳﻮﺑ ﺎﺿﺭ [
ﯽﺤﻄ
، ﺮﻴﺒﮐﺮﻴﻣﺍ ﯽﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ ،ﯽﮑﻴﻨﻴﻠﮐ ﺺﻴﺨﺸﺗ ﺭﺩ ﯼﺮﻴﮔﺭﺎﮑﺑ ﺖﻬﺟ ۱۳۷۸
] ۲
ﯽﺘﺷﺩﺭﺯ ﺭﺎﻴﻬﻣ [
ﯽﻋﻮﻨﺼـﻣ ﺖـﺳﺩﺭﺩ ﺖـﮐﺮﺣ ﺖﺧﺎﻨﺷﺯﺎﺑ ﯼﺎﻬﻤﺴﻴﻧﺎﮑﻣ ﺩﻮﺒﻬﺑ ،
ﯽﮑﻳﮊﻮﻟﻮﻴﺑ ﯼﺎﻬﻟﺎﻨﮕﻴﺳ ﺔﻧﺍﺪﻨﻤﺷﻮﻫ ﻞﻴﻠﺤﺗ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﻩﺎﮕﺸﻧﺍﺩ ،
، ﺮﻴﺒﮐ ﺮﻴﻣﺍ ۱۳۷۲
] ۳
ﺍﺩﺮـﭘ ﻂـﺳﻮﺗ ﯽﻋﻮﻨﺼـﻣ ﺖـﺳﺩ ﺰـﺗﻭﺮﭘ ﻝﺮـﺘﻨﮐ ، ﺎﺑﺎﺷﻮﺧ ﯽﻧﻮﺗ [
ﻝﺎﻨﮕﻴـﺳ ﺵﺯ
، ﺮﻴﺒﮐ ﺮﻴﻣﺍ ﻩﺎﮕﺸﻧﺍﺩ ،ﻡﺍﺮﮔﻮﻳﺎﻣﻭﺮﺘﮑﻟﺍ ﯼﻮﮕﻟﺍ ﺖﺧﺎﻨﺷ ﻭ ﻡﺍﺮﮔﻮﻳﺎﻣﻭﺮﺘﮑﻟﺍ ۱۳۶۸
] ۴
،ﯽﺸــﻳﺮﻗ ﯽــﻠﻋ ﺪﻴــﺳ [
ﯼﻮــﮕﻟﺍ ﺖﺧﺎﻨــﺷﺯﺎﺑ ﺖــﺳﺩ ﻝﺮــﺘﻨﮐ ﺖــﻬﺟ EMG
ﻻﺎﺑ ﯼﺩﺍﺯﺁ ﺕﺎﺟﺭﺩ ﺎﺑ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ
، ،ﻥﺍﺮﻬﺗ ﻩﺎﮕﺸﻧﺍﺩ ۱۳۷۴
] ۵
ﻞﺿﺎﻓ ﺎﺿﺭ [
ﺖـﺳﺩ ﺭﺩ ﻡﺍﺮﮔﻮﻳﺎـﻣﻭﺮﺘﮑﻟﺍ ﻝﺎﻨﮕﻴـﺳ ﯼﻮـﮕﻟﺍ ﺖﺧﺎﻨـﺷ ،ﻲﻳﺎـﺿﺭ
ﻔﺘﺳﺍ ﺎﺑ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﻪﮑﺒﺷ ﺯﺍ ﻩﺩﺎ
،ﺮﻴﺒﮐﺮﻴﻣﺍ ﯽﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ ،ﯽﺒﺼﻋ ﯼﺎﻫ ١٣٧١
] ۶
ﯼﺎــﻫﺭﻮﺗﻮﻣ ﻝﺮــﺘﻨﮐ ،ﺡﻼــﻓ ﯽــﻠﻋ [
ﺖــﺳﺩ ﺭﺩ ﻩﺩﺎﻔﺘــﺳﺍ ﺩﺭﻮــﻣ ﮏــﭼﻮﮐ DC
،ﻥﺍﺮﻬﺗ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺮﻴﺒﮐﺮﻴﻣﺍ ﯽﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ
، ۱۳۶۷
] ۷
ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺖﺳﺩ ﯽﺣﺍﺮﻃ ﻭ ﻪﻌﻟﺎﻄﻣ ،ﯽﻗﺍﺮﻧ ﺪﻤﺤﻣ [
) ﺲـﺣ ﮏﻴﻨﮑﺗ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ
ﺗ ﯽﮑﻴﺘﻧﺮﺒﻳﺎـﺳ ﺖﺳﺩ ﻝﺮﺘﻨﮐ ﺭﺩ ﻪﺘﻓﺎﻳ ﻪﻌﺳﻮﺗ ﯽﻘﻤﻋ ﻥﺍﺮـﻬ
( ﺖـﻴﺑﺮﺗ ﻩﺎﮕﺸـﻧﺍﺩ ،
،ﺱﺭﺪﻣ ۱۳۶۹
] ۸
ﻝﺮﺘﻨﮐ ﺎﺑ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺖﺳﺩ ﯽﻘﻴﺒﻄﺗ ﻝﺮﺘﻨﮐ ،ﺡﻼﻓ ﯽﻠﻋ [
،ﯽﺒﺼـﻋ ﻪﮑﺒـﺷ ﺓﺪـﻨﻨﮐ
،ﺱﺭﺪﻣ ﺖﻴﺑﺮﺗ ﻩﺎﮕﺸﻧﺍﺩ ۱۳۷۴
] ۹
،ﻥﺍﺮﻬﺗ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺖﺳﺩ ﺭﺩ ﯽﻄﺧﺮﻴﻏ ﺭﺎﺛﺁ ﯽﺳﺭﺮﺑ ،ﻥﺎﻴﺣﻼﺻ ﺐﻳﺩﺍ [
ﻩﺎﮕﺸﻧﺍﺩ
ﺮﻴﺒﮐﺮﻴﻣﺍ ﯽﺘﻌﻨﺻ ،
۱۳۷۹
] ۱۰
ﻪﺳ ﯼﺎﻀﻓ ﺭﺩ ﯽﮑﻴﺘﻧﺮﺒﻳﺎﺳ ﺖﺳﺩ ﻝﺮﺘﻨﮐ ،ﯼﺪﻧﮊﺮﻴﺑ ﻡﺎﻴﭘ [
ﺪﻌﺑ ﺭﺎﺑ ﺮﻴﻐﺘﻣ ﻡﺮﺟ ﺎﺑ ﯼ
،ﯽﮑﻴﻧﺎﮑﻣ ﺕﺎﺷﺎﺸﺘﻏﺍ ﻑﺬﺣ ﻭ ﺮﻴﺒﮐﺮﻴﻣﺍ ﯽﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ
، ۱۳۸۱
[11] Herzog, W., Epstein, M., Theoretical Models of Skeletal Muscle, John Wiley & Sons, 1998
[12] Garner, B. A., Pandy, M. G., Estimation of Musculotendon Properties in the Human Upper Limb, Annals of Biomedical Engineering, Vol. 31, pp.
207–220, 2003
[13] Lemay, M. A., Crago, P. E., A Dynamic Model for Simulating Movements of the Elbow, Forearm, and Wrist, J. Biomechanics, Vol. 29, No. 10, pp. 1319- 1330. 1996
] ۱۴
ﻪﺑﺎﺸﻣ ﺖﺳﺩ ﺖﮐﺮﺣ ﻝﺮﺘﻨﮐ ،ﺩﺎﻴﻬﻣ ﺪﻴﻌﺳ [
ﻩﺪـﺷ ﯼﺯﺎـﺳ ﺯﺍ ﻩﺩﺎﻔﺘـﺳﺍ ﺎـﺑ ﻥﺎﺴـﻧﺍ
ﻝﺎﻨﮕﻴﺳ ﻩﺎﮕﺸﻧﺍﺩ ،ﻡﺍﺮﮔﻮﻳﺎﻣﻭﺮﺘﮑﻟﺍ ﯼﺎﻫ ﯽﺘﻌﻨﺻ
،ﯽـﺳﻮﻃ ﻦﻳﺪﻟﺍﺮﻴﺼـﻧ ﻪـﺟﺍﻮﺧ
۱۳۸۳
