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Paper Abstract and Keywords
Presentation 2009-03-11 10:20
An Optimal Control Model for Human Rising Motion from Chair
Takahisa Shibusawa, Naoto Miyazaki, Toshikazu Matsui (Gunma Univ.) MBE2008-97
Abstract (in Japanese) (See Japanese page) 
(in English) We have formulated a three-link (an upper body, two thighs, and two lower legs) and three-joint optimal control model that reproduces rising movements from a chair and considered optimization factors indispensable for realizing the same rising movements as humans. This model changes two kinds of dynamics at time t1 (switching time): one dynamics operates while we are sitting on a chair, and another operates while we are rising from the chair. Consequently, it was clarified that the experimentally measured rising movements can be reproduced by appropriately adjusting the time t1 switching from one dynamics to another and the weight for the input term (torque change) in the evaluation function. This result suggests that the two kinds of optimization factors can be strongly involved in realizing rising movements.
Keyword (in Japanese) (See Japanese page) 
(in English) Rising movement / Optimal control / Switching time / Input weight / Torque change / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 479, MBE2008-97, pp. 13-18, March 2009.
Paper # MBE2008-97 
Date of Issue 2009-03-04 (MBE) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee NC MBE  
Conference Date 2009-03-11 - 2009-03-13 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2009-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) An Optimal Control Model for Human Rising Motion from Chair 
Sub Title (in English)  
Keyword(1) Rising movement  
Keyword(2) Optimal control  
Keyword(3) Switching time  
Keyword(4) Input weight  
Keyword(5) Torque change  
1st Author's Name Takahisa Shibusawa  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Naoto Miyazaki  
2nd Author's Affiliation Gunma University (Gunma Univ.)
3rd Author's Name Toshikazu Matsui  
3rd Author's Affiliation Gunma University (Gunma Univ.)
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Date Time 2009-03-11 10:20:00 
Presentation Time 25 
Registration for MBE 
Paper # IEICE-MBE2008-97 
Volume (vol) IEICE-108 
Number (no) no.479 
Page pp.13-18 
#Pages IEICE-6 
Date of Issue IEICE-MBE-2009-03-04 

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