| Presentation | 2015-11-21 Obstacle-Avoiding Strategy in Human Three-Joint Arm's Reaching Movement Mechanism Toshikazu Matsui, Hiroki Okabe, Shin-ya Imai, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Three-joint arm / Optimal control model / Obstacle avoiding movement / Obstacle avoiding condition / Avoiding line / Avoiding distance / Avoiding time / Avoiding point |
| Paper # | MBE2015-56 |
| Date of Issue | 2015-11-13 (MBE) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2015/11/20(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tohoku University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Tetsuo Kobayashi(Kyoto Univ.) / Toshimichi Saito(Hosei Univ.) |
| Vice Chair | Yutaka Fukuoka(Kogakuin Univ.) / Shigeo Sato(Tohoku Univ.) |
| Secretary | Yutaka Fukuoka(akita noken) / Shigeo Sato(Kogakuin Univ.) |
| Assistant | Takenori Oida(Kyoto Univ.) / Ryota Horie(Shibaura Inst. of Tech.) / Hiroyuki Kanbara(Tokyo Inst. of Tech.) / Hisanao Akima(Tohoku Univ.) |
| Paper Information | |
| Registration To | Technical Committee on ME and Bio Cybernetics / Technical Committee on Neurocomputing |
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| Language | JPN |
| 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.) |
| Date | 2015-11-21 |
| Paper # | MBE2015-56 |
| Volume (vol) | vol.115 |
| Number (no) | MBE-317 |
| Page | pp.pp.17-22(MBE), |
| #Pages | 6 |
| Date of Issue | 2015-11-13 (MBE) |