| Presentation | 2015-03-17 Model for Optimizing Movement Time of Human Arm's Reaching Movements Takeshi SEKIGUCHI, Toshikazu MATSUI, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We have already formulated a human three joint arm's optimal control model characterized by its freezing-like mechanism in its hand joint, and have clarified its effectiveness in reproducing human reaching movement trajectories. However, this model cannot optimize the movement time of reaching movements. This research formulates a human three joint arm's optimal control model optimizing movement times as well as movement trajectories, and examines its effectiveness. Actually, the proposed model is realized by incorporating a movement-time evaluation term (product of a movement-time function and a weight) into the criterion function of the previous model. Consequently, the following results are obtained: (1) the proposed model can optimize its criterion function with regard to both movement trajectories and movement times of reaching movements; (2) the maximum error between the measured and predicted average movement-times is 30.5 ms for the movement-time function of tf; (3) the model's predicted movement trajectories agree well with the measured ones regardless of the movement-time functions. These results suggest that the proposed model can be a more effective and plausible model of the human three joint arm's control mechanism, and that the movement time of human reaching movements can be adjusted by information except for time such as weight values or joint torques. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Reaching movement / Optimal control / Three joint arm / Movement-time optimization / Movement trajectory optimization / Movement-time function |
| Paper # | MBE2014-138,NC2014-89 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2015/3/9(1days) |
| Place (in Japanese) | (See Japanese page) |
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| 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) | Model for Optimizing Movement Time of Human Arm's Reaching Movements |
| Sub Title (in English) | |
| Keyword(1) | Reaching movement |
| Keyword(2) | Optimal control |
| Keyword(3) | Three joint arm |
| Keyword(4) | Movement-time optimization |
| Keyword(5) | Movement trajectory optimization |
| Keyword(6) | Movement-time function |
| 1st Author's Name | Takeshi SEKIGUCHI |
| 1st Author's Affiliation | Graduate School of S cience and Technology, Gunma University() |
| 2nd Author's Name | Toshikazu MATSUI |
| 2nd Author's Affiliation | Graduate School of S cience and Technology, Gunma University |
| Date | 2015-03-17 |
| Paper # | MBE2014-138,NC2014-89 |
| Volume (vol) | vol.114 |
| Number (no) | 515 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |