| Presentation | 2002/1/22 Predictive Arm Stiffness Regulation for Different Stabilities of External Dynamics Hiroaki GOMI, Naoki SAIJYO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Previous studies revealed that arm stiffness is altered according to environmental dynamics. It is not clear, however, whether such contextual change in stiffness is caused reactively by the interaction between arm and environment or whether it reflects a change of motor command by the CNS. To examine this issue, we measured arm stiffness by applying small perturbations just before the arm encountered an altered dynamics during transversal movements. The first portion of the movements was always unconstrained, but the second portion could be either a virtual valley (stable), a virtual ridge (unstable), or no constraint. As a result, it was found that stiffness just before the ridge decreased in stable direction, and that stiffness just before the valley increased in unstable direction. Additionally, in a ridge condition, reflexive electromyogram (EMG) response to the perturbations was equivalent to twofold its background EMG, suggesting that the CNS anticipatorily adjusts arm stiffness not only by changing muscle coordination but also by altering reflex innervations according to expected environmental dynamics. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Arm stiffmess / Interaction / Arm movement control / Reflex / Muscle coordination / Electromyogram |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2002/1/22(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| 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) | Predictive Arm Stiffness Regulation for Different Stabilities of External Dynamics |
| Sub Title (in English) | |
| Keyword(1) | Arm stiffmess |
| Keyword(2) | Interaction |
| Keyword(3) | Arm movement control |
| Keyword(4) | Reflex |
| Keyword(5) | Muscle coordination |
| Keyword(6) | Electromyogram |
| 1st Author's Name | Hiroaki GOMI |
| 1st Author's Affiliation | NTT Communication Science Labs.:CREST of Japan Science and Technology Co.:Interdisciplinary Grad.School of Sci.&Eng., Univ.Tokyo Institute of Technology() |
| 2nd Author's Name | Naoki SAIJYO |
| 2nd Author's Affiliation | NTT Communicatioun Science Labs. |
| Date | 2002/1/22 |
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| Volume (vol) | vol.101 |
| Number (no) | 616 |
| Page | pp.pp.- |
| #Pages | 8 |
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