| Presentation | 2007-03-15 Motor Planning and Sparse Motor Representation : Application to Reaching Movement of a Double-Joint Nonlinear Arm Yutaka SAKAGUCHI, Shiro IKEDA, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The authors previously proposed that "sparseness preference" could work as a criteron of motor planning problem within a parametric framework where each motor command was represented with a linear sum of basis patterns, and showed its validity in the planning of a single-joint reaching movement. The present report addresses how to extend this method applicable to double-joint reaching movements. Specifically, the authors divide the motor command into two components: One gives active forces to drive the ballistic portion of the movement and the other holds the hand correctly around the target. The former component is generated by the sparseness-based planning method where the nonlinear double-joint motor system is approximated as a linear system, and the latter component compensates the endpoint error produced by the approximation error in the planning process. A computer-simulated experiment was ran for demonstrating the behavior of the proposed method. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | motor planning / motor representation / sparse representation / reaching movement / linearization |
| Paper # | NC2006-161 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2007/3/8(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) | Motor Planning and Sparse Motor Representation : Application to Reaching Movement of a Double-Joint Nonlinear Arm |
| Sub Title (in English) | |
| Keyword(1) | motor planning |
| Keyword(2) | motor representation |
| Keyword(3) | sparse representation |
| Keyword(4) | reaching movement |
| Keyword(5) | linearization |
| 1st Author's Name | Yutaka SAKAGUCHI |
| 1st Author's Affiliation | University of Electro-Communications, Graduate School of Information Systems() |
| 2nd Author's Name | Shiro IKEDA |
| 2nd Author's Affiliation | The Institute of Statistical Mathematics |
| Date | 2007-03-15 |
| Paper # | NC2006-161 |
| Volume (vol) | vol.106 |
| Number (no) | 589 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |