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 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
Conference Date 2006/3/10(1days)
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Paper Information
Registration To Neurocomputing (NC)
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