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Paper Abstract and Keywords
Presentation 2017-11-25 15:50
Via-Point Typed Optimal Control Model for Simulating Human Squat Movements and Its Effectiveness
Toshikazu Matsui (Gunma Univ.) NC2017-37
Abstract (in Japanese) (See Japanese page) 
(in English) A three-link and three-joint optimal control model to reproduce human squat movements has already been proposed. This model is characterized by sequentially optimizing the half-crouching process and the rising-up process of squat movements. However, this model has a difficulty in predicting the desired value of the three-joint torques in the half-crouching process. This research proposes another optimal control model (via-point model) characterized by reproducing squat movements as one continuous movement, and discusses the model’s effectiveness and the required number of the boundary conditions. Consequently, the following results are obtained: (1) the proposed model can successfully reproduce squat movement trajectories measured; (2) there exists the optimum via-point time to minimize the proposed model’s minimum criterion function value; (3) the proposed model’s necessary boundary conditions at the via point are three joint angles and their angular velocities, and are smaller in number than the previous model’s ones. These results suggest that the proposed model can be a more effective and plausible model of the human squatting mechanism than the previous model.
Keyword (in Japanese) (See Japanese page) 
(in English) Squat movement / Via point / Optimal control / Via-point time / Boundary condition / Functional optimization / /  
Reference Info. IEICE Tech. Rep., vol. 117, no. 325, NC2017-37, pp. 53-58, Nov. 2017.
Paper # NC2017-37 
Date of Issue 2017-11-17 (NC) 
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 NC2017-37

Conference Information
Committee MBE NC  
Conference Date 2017-11-24 - 2017-11-25 
Place (in Japanese) (See Japanese page) 
Place (in English) Tohoku University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) BCI/BMI, generall 
Paper Information
Registration To NC 
Conference Code 2017-11-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Via-Point Typed Optimal Control Model for Simulating Human Squat Movements and Its Effectiveness 
Sub Title (in English)  
Keyword(1) Squat movement  
Keyword(2) Via point  
Keyword(3) Optimal control  
Keyword(4) Via-point time  
Keyword(5) Boundary condition  
Keyword(6) Functional optimization  
1st Author's Name Toshikazu Matsui  
1st Author's Affiliation Gunma University (Gunma Univ.)
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Date Time 2017-11-25 15:50:00 
Presentation Time 25 
Registration for NC 
Paper # IEICE-NC2017-37 
Volume (vol) IEICE-117 
Number (no) no.325 
Page pp.53-58 
#Pages IEICE-6 
Date of Issue IEICE-NC-2017-11-17 

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