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| 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 |
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| 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 |
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| 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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