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Paper Abstract and Keywords
Presentation 2009-03-11 15:45
An Optimal Control Model for Human Three-Joint Arm's Reaching Movements Including Hand Joint's Freezing Mechanism
Kouki Takeshita, Takahisa Shibusawa, Toshikazu Matsui (Gunma Univ.) MBE2008-104
Abstract (in Japanese) (See Japanese page) 
(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) 
(in English) Freezing / Three-joint arm / Energy optimization / Reaching movement / Constrained movement / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 479, MBE2008-104, pp. 51-56, March 2009.
Paper # MBE2008-104 
Date of Issue 2009-03-04 (MBE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MBE2008-104

Conference Information
Committee NC MBE  
Conference Date 2009-03-11 - 2009-03-13 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2009-03-NC-MBE 
Language Japanese 
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  
Keyword(3) Energy optimization  
Keyword(4) Reaching movement  
Keyword(5) Constrained movement  
Keyword(6)  
Keyword(7)  
Keyword(8)  
1st Author's Name Kouki Takeshita  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Takahisa Shibusawa  
2nd Author's Affiliation Gunma University (Gunma Univ.)
3rd Author's Name Toshikazu Matsui  
3rd Author's Affiliation Gunma University (Gunma Univ.)
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Speaker Author-1 
Date Time 2009-03-11 15:45:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2008-104 
Volume (vol) vol.108 
Number (no) no.479 
Page pp.51-56 
#Pages 6 
Date of Issue 2009-03-04 (MBE) 

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