| Presentation | 2017-11-25 Via-Point Typed Optimal Control Model for Simulating Human Squat Movements and Its Effectiveness Toshikazu Matsui, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Squat movement / Via point / Optimal control / Via-point time / Boundary condition / Functional optimization |
| Paper # | NC2017-37 |
| Date of Issue | 2017-11-17 (NC) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2017/11/24(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tohoku University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | BCI/BMI, generall |
| Chair | Kazuki Nakajima(Univ. of Toyama) / Masafumi Hagiwara(Keio Univ.) |
| Vice Chair | Masaki Kyoso(TCU) / Yutaka Hirata(Chubu Univ.) |
| Secretary | Masaki Kyoso(Toyama Pref. Univ.) / Yutaka Hirata(Kindai Univ.) |
| Assistant | Kim Juhyon(Univ. of Toyama) / Takumi Kobayashi(YNU) / Yoshihisa Shinozawa(Keio Univ.) / Keiichiro Inagaki(Chubu 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) | 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.) |
| Date | 2017-11-25 |
| Paper # | NC2017-37 |
| Volume (vol) | vol.117 |
| Number (no) | NC-325 |
| Page | pp.pp.53-58(NC), |
| #Pages | 6 |
| Date of Issue | 2017-11-17 (NC) |