| Presentation | 2009-03-11 An Optimal Control Model for Human Three-Joint Arm's Reaching Movements Including Hand Joint's Freezing Mechanism Kouki TAKESHITA, Takahisa SHIBUSAWA, Toshikazu MATSUI, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We have formulated a new optimal control model of the human three-joint arm system characterized by a hand joint's freezing mechanism. The new model optimizes its evaluation function in which three kinds of energy are incorporated into the evaluation function of the previous modified minimum-torque change model. Consequently, it was clarified that the new model is very effective in reproducing two-point reaching movement characteristics for the human three-joint arm system regardless of target positions and either hand-joint's unconstrained movements or constrained ones. The result suggests that the new model is more effective as a model of the human three-joint arm control system and that energy optimization can involve the trajectory planning of human three-joint arm's reaching movements. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Freezing / Three-joint arm's / Energy optimization / Reaching movement / Constrained movement |
| Paper # | MBE2008-104 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2009/3/4(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Vice Chair | |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | An Optimal Control Model for Human Three-Joint Arm's Reaching Movements Including Hand Joint's Freezing Mechanism |
| Sub Title (in English) | |
| Keyword(1) | Freezing |
| Keyword(2) | Three-joint arm's |
| Keyword(3) | Energy optimization |
| Keyword(4) | Reaching movement |
| Keyword(5) | Constrained movement |
| 1st Author's Name | Kouki TAKESHITA |
| 1st Author's Affiliation | Graduate School of Engineering, Gunma University() |
| 2nd Author's Name | Takahisa SHIBUSAWA |
| 2nd Author's Affiliation | Graduate School of Engineering, Gunma University |
| 3rd Author's Name | Toshikazu MATSUI |
| 3rd Author's Affiliation | Graduate School of Engineering, Gunma University |
| Date | 2009-03-11 |
| Paper # | MBE2008-104 |
| Volume (vol) | vol.108 |
| Number (no) | 479 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |