| Presentation | 2013-09-24 Optimality of Upper-Arm Reaching Movements with Impedance Control Based on the Criterion of the Minimum Expected Value of the Energy Cost Yoshiaki TANIAI, Tomohide NANIWA, Jun NISHII, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | It has been reported that the hand trajectories of upper-arm reaching movements are slightly curved and the speed profiles take bell-shaped curve. Many studies have examined the constraint to determine the arm trajectory by respecting these characteristics. On the other hand, few studies have paid attention to the impedance control given by the muscle stiffness in the discussion of motor planning. In this study, we used a one-link arm model with two muscles and computed the optimal motor command signal that suppresses the expected value of the energy cost. The results well expressed not only the above mentioned characteristics of the upper-arm reaching movement but also some other characteristics, e.g., the variance of the hand trajectory becomes maximum in the middle of the movement duration. This result suggests that the upper-arm reaching movement is planned so as to suppress the expected value of the energy cost. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Motor Planning / Minimum Expected Value of the Energy Cost / Impedance Control / Movement Variability |
| Paper # | MBE2013-44,NC2013-30 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2013/9/17(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) | Optimality of Upper-Arm Reaching Movements with Impedance Control Based on the Criterion of the Minimum Expected Value of the Energy Cost |
| Sub Title (in English) | |
| Keyword(1) | Motor Planning |
| Keyword(2) | Minimum Expected Value of the Energy Cost |
| Keyword(3) | Impedance Control |
| Keyword(4) | Movement Variability |
| 1st Author's Name | Yoshiaki TANIAI |
| 1st Author's Affiliation | Graduate School of Engineering, University of Fukui() |
| 2nd Author's Name | Tomohide NANIWA |
| 2nd Author's Affiliation | Graduate School of Engineering, University of Fukui |
| 3rd Author's Name | Jun NISHII |
| 3rd Author's Affiliation | Graduate School of Science and Engineering, Yamaguchi University |
| Date | 2013-09-24 |
| Paper # | MBE2013-44,NC2013-30 |
| Volume (vol) | vol.113 |
| Number (no) | 223 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |