| Presentation | 2016-11-19 Hand-Joint Freezing Strategy and Its Model in Human Three-Joint Arm's Reaching Movements Toshikazu Matsui, Takumi Suzuki, Tomohiro Furuya, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Reaching / Hand joint / Feedback control model / Hand joint torque / Inertia torque / Co-contraction / Freezing |
| Paper # | MBE2016-56 |
| Date of Issue | 2016-11-11 (MBE) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2016/11/18(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tohoku University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Yutaka Fukuoka(Kogakuin Univ.) / Shigeo Sato(Tohoku Univ.) |
| Vice Chair | Kazuki Nakajima(Univ. of Toyama) / Masafumi Hagiwara(Keio Univ.) |
| Secretary | Kazuki Nakajima(Kogakuin Univ.) / Masafumi Hagiwara(Toyama Pref. Univ.) |
| Assistant | Ryota Horie(Shibaura Inst. of Tech.) / Kim Juhyon(Univ. of Toyama) / Hisanao Akima(Tohoku Univ.) / Yoshihisa Shinozawa(Keio 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) | 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.) |
| Date | 2016-11-19 |
| Paper # | MBE2016-56 |
| Volume (vol) | vol.116 |
| Number (no) | MBE-312 |
| Page | pp.pp.39-44(MBE), |
| #Pages | 6 |
| Date of Issue | 2016-11-11 (MBE) |