| Presentation | 2003/7/22 Tradeoff between task optimization and energy consumption : selecting appropriate stiffness Naoki KAMIMURA, Rieko OSU, Hiroshi IWASAKI, Eri NAKANO, Chris M. HARRIS, Yasuhiro WADA, Mitsuo KAWATO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we investigated a relationship between human-arm mechanical impedance and task performance when subjects increase co-contraction level voluntarily. Subjects were asked to perform point-to-point movements in the horizontal plane, and hand trajectory and surface electromyographic (EMG) activity were recorded. Stiffness that estimated from index muscle co-contraction around the joint (IMCJ) was calculated by surface EMG signal. When requierd high accuracy by reduce target size, stiffness level increased. When co-contraction level increased, EMG, torque and position deviation increased. But, end-point error did not increase and was largest for the lowest co-contraction level. The increasing EMG deviation suggests that noise increase with muscle activation. However, the change in impedance reduces the effect of this noise on the final task error. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Inpedance Control / Signal dependent noise / Stiffness |
| Paper # | NC2003-40 |
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| Committee | NC |
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| Conference Date | 2003/7/22(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Tradeoff between task optimization and energy consumption : selecting appropriate stiffness |
| Sub Title (in English) | |
| Keyword(1) | Inpedance Control |
| Keyword(2) | Signal dependent noise |
| Keyword(3) | Stiffness |
| 1st Author's Name | Naoki KAMIMURA |
| 1st Author's Affiliation | Nagaoka University of Technology() |
| 2nd Author's Name | Rieko OSU |
| 2nd Author's Affiliation | ATR Conputational Neuroscience Laboratories |
| 3rd Author's Name | Hiroshi IWASAKI |
| 3rd Author's Affiliation | Nagaoka University of Technology |
| 4th Author's Name | Eri NAKANO |
| 4th Author's Affiliation | Digital Human Laboratory, National Institute of Advanced Industrial Science and Technology |
| 5th Author's Name | Chris M. HARRIS |
| 5th Author's Affiliation | Institute of Neuroscience, University of Plymouth |
| 6th Author's Name | Yasuhiro WADA |
| 6th Author's Affiliation | Nagaoka University of Technology |
| 7th Author's Name | Mitsuo KAWATO |
| 7th Author's Affiliation | ATR Conputational Neuroscience Laboratories |
| Date | 2003/7/22 |
| Paper # | NC2003-40 |
| Volume (vol) | vol.103 |
| Number (no) | 228 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |