| Presentation | 1996/10/28 Calculating Optimal Criteria for Trajectory Planning Using Observed Movement Data Rieko OSU, Yoji UNO, Yasuharu KOIKE, Mitsuo KAWATO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Various optimal criteria have been proposed for trajectory planning in multi-joint arm movements. The minimum-jerk criterion plans smooth trajectories in the extrinsic task space. The minimum-joint-angle-jerk criteria, the minimum-torque-change criteria, and the minimum-motor-command-change criteria plan smooth trajectories in the intrinsic body space. Assuming that realized trajectories reflect planned trajectories, we compared the values of above four optimal criteria calculated from observed movement data. If the value of a certain criterion is larger in a spontaneously generated movement than in some other movement, that criterion can be rejected. If, however, the value of a certain criterion is smaller in a spontaneously generated movement than in any other movement, it supports that criterion. We investigated plausibility of these models by calculating optimal criteria using observed movement data. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | trajectory planning / optimal criteria / EMG |
| Paper # | NC96-48 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
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| Conference Date | 1996/10/28(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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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) | Calculating Optimal Criteria for Trajectory Planning Using Observed Movement Data |
| Sub Title (in English) | |
| Keyword(1) | trajectory planning |
| Keyword(2) | optimal criteria |
| Keyword(3) | EMG |
| 1st Author's Name | Rieko OSU |
| 1st Author's Affiliation | ATR Human Information Processing Res. Labs.:Kawato Dynamic Brain Project, JST() |
| 2nd Author's Name | Yoji UNO |
| 2nd Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology |
| 3rd Author's Name | Yasuharu KOIKE |
| 3rd Author's Affiliation | Bioresearch laboratory, Future Project Division No.1, Toyota Motor Corporation |
| 4th Author's Name | Mitsuo KAWATO |
| 4th Author's Affiliation | ATR Human Information Processing Res. Labs. |
| Date | 1996/10/28 |
| Paper # | NC96-48 |
| Volume (vol) | vol.96 |
| Number (no) | 331 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |