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Paper Abstract and Keywords
Presentation 2016-11-19 13:50
Hand-Joint Freezing Strategy and Its Model in Human Three-Joint Arm's Reaching Movements
Toshikazu Matsui, Takumi Suzuki, Tomohiro Furuya (Gunma Univ.) MBE2016-56
Abstract (in Japanese) (See Japanese page) 
(in English) When we move our own arm in our daily life, we experience that our hand-joint angle hardly changes during the movement. This research discusses the hand-joint control strategy based on measuring the hand-joint angle and computing all the external torques acting on the hand joint during three-joint arm’s reaching movements, and moreover, it discusses the biological relation between the human hand-joint control mechanism and its feedback control model. Consequently, the following results are obtained: (1) the hand-joint angle hardly changes during unconstrained reaching movements; (2) the sum (i.e., resultant torque) of the hand-joint torque and the inertia torque acting integrated over the entire movement approaches zero; (3) the mechanism of the feedback control model corresponds to the biological mechanism that the hand-joint torque is generated by summation of two torques based on agonist and antagonist muscles in co-contraction; (4) the model’s feedback gain controls the strength of co-contraction (stiffness). These results suggest that hand joints are controlled by a strategy such as freezing and that the feedback control model can be a plausible model of the human hand-joint control mechanism.
Keyword (in Japanese) (See Japanese page) 
(in English) Reaching / Hand joint / Feedback control model / Hand joint torque / Inertia torque / Co-contraction / Freezing /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 312, MBE2016-56, pp. 39-44, Nov. 2016.
Paper # MBE2016-56 
Date of Issue 2016-11-11 (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 MBE2016-56

Conference Information
Committee MBE NC  
Conference Date 2016-11-18 - 2016-11-19 
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 2016-11-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Hand-Joint Freezing Strategy and Its Model in Human Three-Joint Arm's Reaching Movements 
Sub Title (in English)  
Keyword(1) Reaching  
Keyword(2) Hand joint  
Keyword(3) Feedback control model  
Keyword(4) Hand joint torque  
Keyword(5) Inertia torque  
Keyword(6) Co-contraction  
Keyword(7) Freezing  
1st Author's Name Toshikazu Matsui  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Takumi Suzuki  
2nd Author's Affiliation Gunma University (Gunma Univ.)
3rd Author's Name Tomohiro Furuya  
3rd Author's Affiliation Gunma University (Gunma Univ.)
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Date Time 2016-11-19 13:50:00 
Presentation Time 25 
Registration for MBE 
Paper # IEICE-MBE2016-56 
Volume (vol) IEICE-116 
Number (no) no.312 
Page pp.39-44 
#Pages IEICE-6 
Date of Issue IEICE-MBE-2016-11-11 

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