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Paper Abstract and Keywords
Presentation 2015-11-21 10:00
Obstacle-Avoiding Strategy in Human Three-Joint Arm's Reaching Movement Mechanism
Toshikazu Matsui, Hiroki Okabe, Shin-ya Imai (Gunma Univ.) MBE2015-56
Abstract (in Japanese) (See Japanese page) 
(in English) This research formulates a new optimal control model for reproducing human arm’s obstacle-avoiding movements through incorporating two kinds of obstacle-avoiding conditions into the three-joint arm’s optimal control model and examines the model’s performance. The first condition is that the hand path is tangent at an avoiding time to the avoiding line that is parallel to the line connecting the start and final points. The second condition is that the tangent point, i.e., the avoiding point, involves the position of the obstacle deeply. Consequently, the following results are obtained: (1) the proposed model can generate obstacle-avoiding movements similar to measured ones under the two avoiding conditions; (2) there exists the optimal avoiding time to minimize the model’s criterion function; (3) the model’s optimal obstacle-avoiding trajectories based on torque-change minimization agrees better with the measured ones than those based on energy minimization. These results suggest that the model’s avoiding conditions can be valid in reproducing human arm’s obstacle-avoiding movements and that the human arm’s obstacle-avoiding mechanism can function based on torque-change minimization.
Keyword (in Japanese) (See Japanese page) 
(in English) Three-joint arm / Optimal control model / Obstacle avoiding movement / Obstacle avoiding condition / Avoiding line / Avoiding distance / Avoiding time / Avoiding point  
Reference Info. IEICE Tech. Rep., vol. 115, no. 317, MBE2015-56, pp. 17-22, Nov. 2015.
Paper # MBE2015-56 
Date of Issue 2015-11-13 (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)
Download PDF MBE2015-56

Conference Information
Committee MBE NC  
Conference Date 2015-11-20 - 2015-11-21 
Place (in Japanese) (See Japanese page) 
Place (in English) Tohoku University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2015-11-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Obstacle-Avoiding Strategy in Human Three-Joint Arm's Reaching Movement Mechanism 
Sub Title (in English)  
Keyword(1) Three-joint arm  
Keyword(2) Optimal control model  
Keyword(3) Obstacle avoiding movement  
Keyword(4) Obstacle avoiding condition  
Keyword(5) Avoiding line  
Keyword(6) Avoiding distance  
Keyword(7) Avoiding time  
Keyword(8) Avoiding point  
1st Author's Name Toshikazu Matsui  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Hiroki Okabe  
2nd Author's Affiliation Gunma University (Gunma Univ.)
3rd Author's Name Shin-ya Imai  
3rd Author's Affiliation Gunma University (Gunma Univ.)
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Date Time 2015-11-21 10:00:00 
Presentation Time 25 
Registration for MBE 
Paper # IEICE-MBE2015-56 
Volume (vol) IEICE-115 
Number (no) no.317 
Page pp.17-22 
#Pages IEICE-6 
Date of Issue IEICE-MBE-2015-11-13 

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