| Presentation | 2006-03-17 Instruction for learning of human arm reaching movements with a non-actuated link Yoshinori YOSHIDA, Takahiro KAGAWA, Yoji UNO, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Efficient training to promote motor learning for paraplegic gait is required. However, there are some problems of training due to safety and fatigue. Regarding the paralyzed lower limbs of the patients as non-actuated system that cannot generate torque by themselves, we examined reaching movements for the system in which the shoulder and elbow are actuated joints and the hand is a non-actuated joint. The task is to move the tip of a non-actuated link to a target. Since the dimension of control input is less than that of degrees of freedom, motor planning and control are significantly difficult in the system. The purpose of this research is to investigate the instruction and training method to learn the movement of the non-actuated link. First, the instruction of a movement of the non-actuated link and that of the hand are examined. Second, the instruction of the whole trajectory is compared with the instruction of important via-points. In conclusion, it is conjectured that the training of paraplegic patients can be efficiently conducted by teaching important via-points of the successful motion with respect to the controllable body parts, e.g., trunk and waist. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Movement learning / Reaching movement / Non-actuated manipulator |
| Paper # | NC2005-160 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2006/3/10(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) | Instruction for learning of human arm reaching movements with a non-actuated link |
| Sub Title (in English) | |
| Keyword(1) | Movement learning |
| Keyword(2) | Reaching movement |
| Keyword(3) | Non-actuated manipulator |
| 1st Author's Name | Yoshinori YOSHIDA |
| 1st Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology() |
| 2nd Author's Name | Takahiro KAGAWA |
| 2nd Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology |
| 3rd Author's Name | Yoji UNO |
| 3rd Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology |
| Date | 2006-03-17 |
| Paper # | NC2005-160 |
| Volume (vol) | vol.105 |
| Number (no) | 659 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |