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Paper Abstract and Keywords
Presentation 2015-03-17 14:45
Model for Optimizing Movement Time of Human Arm's Reaching Movements
Takeshi Sekiguchi, Toshikazu Matsui (Gunma Univ.) MBE2014-138 NC2014-89
Abstract (in Japanese) (See Japanese page) 
(in English) We have already formulated a human three-joint arm’s optimal control model characterized by its freezing-like mechanism in its hand joint, and have clarified its effectiveness in reproducing human reaching movement trajectories. However, this model cannot optimize the movement time of reaching movements. This research formulates a human three-joint arm’s optimal control model optimizing movement times as well as movement trajectories, and examines its effectiveness. Actually, the proposed model is realized by incorporating a movement-time evaluation term (product of a movement-time function and a weight) into the criterion function of the previous model. Consequently, the following results are obtained: (1) the proposed model can optimize its criterion function with regard to both movement trajectories and movement times of reaching movements; (2) the maximum error between the measured and predicted average movement-times is 30.5 ms for the movement-time function of tf; (3) the model’s predicted movement trajectories agree well with the measured ones regardless of the movement-time functions. These results suggest that the proposed model can be a more effective and plausible model of the human three-joint arm’s control mechanism, and that the movement time of human reaching movements can be adjusted by information except for time such as weight values or joint torques.
Keyword (in Japanese) (See Japanese page) 
(in English) Reaching movement / Optimal control / Three-joint arm / Movement-time optimization / Movement trajectory optimization / Movement-time function / /  
Reference Info. IEICE Tech. Rep., vol. 114, no. 514, MBE2014-138, pp. 123-128, March 2015.
Paper # MBE2014-138 
Date of Issue 2015-03-09 (MBE, NC) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
Copyright
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reproduction
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)
Download PDF MBE2014-138 NC2014-89

Conference Information
Committee NC MBE  
Conference Date 2015-03-16 - 2015-03-17 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) ME, etc 
Paper Information
Registration To MBE 
Conference Code 2015-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Model for Optimizing Movement Time of Human Arm's Reaching Movements 
Sub Title (in English)  
Keyword(1) Reaching movement  
Keyword(2) Optimal control  
Keyword(3) Three-joint arm  
Keyword(4) Movement-time optimization  
Keyword(5) Movement trajectory optimization  
Keyword(6) Movement-time function  
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Keyword(8)  
1st Author's Name Takeshi Sekiguchi  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Toshikazu Matsui  
2nd Author's Affiliation Gunma University (Gunma Univ.)
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Speaker
Date Time 2015-03-17 14:45:00 
Presentation Time 25 
Registration for MBE 
Paper # IEICE-MBE2014-138,IEICE-NC2014-89 
Volume (vol) IEICE-114 
Number (no) no.514(MBE), no.515(NC) 
Page pp.123-128 
#Pages IEICE-6 
Date of Issue IEICE-MBE-2015-03-09,IEICE-NC-2015-03-09 


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