Objective: Proprioceptive senses play an important role in human body reflex and movement, so far implementing physiological mathematical models of proprioceptors in the musculoskeletal model and investigating their effects have not been sufficiently investigated. The purpose of the present study was to establish a compact framework for a lower limb musculoskeletal model by considering both ascending signals from central nervous system and descending feedback neural signal from physiologically realistic proprioceptors and evaluate it with progressive experimental data as well as investigating the effects of the proprioceptive feedback on the human movement. Methods: The simulation framework was established by combining a lower limb musculoskeletal model, the forward dynamic tool from OpenSim codes, and an executive program based on Python codes. The physiological mathematical models of the muscle spindle and Golgi tendon organs were included in the feedback control loop for the model. The model was evaluated through both previous literature data and currently implemented volunteer reflex experiments from the neural organ level to the monosynaptic reflex loop, and finally the complicated movement, such as the firing rate of the proprioceptors, the knee-jerk reflex, and the normal gait. Simultaneously, the effects of the proprioceptors on human normal gait were initially investigated. Results: The reliability of the framework was properly evaluated by comparing the experimental data of neural firing rate, electromyography signals, and joint kinematics. The gait analysis indicated that the introduction of the proprioceptors in the motor control loop can substantially resist the external disturbance. Conclusion: The established framework has been evaluated at different levels, and it can be extended and applied to different musculoskeletal models for human movement analysis and evaluate the effects of the proprioceptors on them.

中文翻译：

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具有实施的自然本体感受反馈的下肢肌肉骨骼模型的框架及其渐进评估。

目的：本体感受在人体反射和运动中起着重要作用，到目前为止，尚未充分研究在肌肉骨骼模型中使用本体感受器的生理数学模型并研究其作用。本研究的目的是通过考虑来自中枢神经系统的上升信号和来自生理逼真本体感受器的下降反馈神经信号，并为进行下肢肌肉骨骼模型建立一个紧凑的框架，并通过进行性实验数据对其进行评估，并研究对人体运动的本体感受反馈。方法：通过结合下肢肌肉骨骼模型，OpenSim代码中的正向动态工具和基于Python代码的执行程序来建立仿真框架。肌肉纺锤体和高尔基肌腱器官的生理数学模型包含在模型的反馈控制回路中。该模型通过先前的文献数据进行了评估，并且目前正在进行从神经器官水平到单突触反射环的志愿者反射实验，最后进行了复杂的运动，例如本体感受器的发射速度，膝跳反射和正常步态。同时，初步研究了本体感受器对人正常步态的影响。结果：通过比较神经放电率，肌电信号和关节运动学的实验数据，正确评估了框架的可靠性。步态分析表明，在电机控制回路中引入本体感受器可以基本上抵抗外部干扰。结论：已建立的框架已在不同级别进行了评估，可以扩展并应用于不同的肌肉骨骼模型进行人体运动分析，并评估本体感受器对其的影响。