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Paper Abstract and Keywords
Presentation 2009-03-12 10:50
Reproduction of curved movements of human hand based on the magnitude of trajectories
Satoru Maegawa, Takahiro Kagawa, Kouichi Taji, Yoji Uno (Nagoya Univ.) NC2008-140
Abstract (in Japanese) (See Japanese page) 
(in English) Trajectory generation methods for human hand based on the smoothness of movement have been proposed, for example, minimum-jerk model and minimum torque change model etc. When reconstructing curved trajectory based on those models in the numerical simulation, the trajectory was usually generated with specification of via-points. When human, however, move the end-point of arm along the curved trajectory, it hardly think that one has precise via-points along the trajectory. In this paper, therefore, we propose the minimum torque change trajectory generation method by giving the magnitude of trajectories constraints in stead of some via-points. We measure the end-point position of some human movements, then compare the simulation results by the minimum torque change model based on trajectory length with the measured data. The results indicates the possibility of magnitude of trajectories constraints as alternatives to via-points.
Keyword (in Japanese) (See Japanese page) 
(in English) Constraints / Minimum torque change model / Magnitude of trajectories / / / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 480, NC2008-140, pp. 219-224, March 2009.
Paper # NC2008-140 
Date of Issue 2009-03-04 (NC) 
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 NC2008-140

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 NC 
Conference Code 2009-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Reproduction of curved movements of human hand based on the magnitude of trajectories 
Sub Title (in English)  
Keyword(1) Constraints  
Keyword(2) Minimum torque change model  
Keyword(3) Magnitude of trajectories  
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1st Author's Name Satoru Maegawa  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Kouichi Taji  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
4th Author's Name Yoji Uno  
4th Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2009-03-12 10:50:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2008-140 
Volume (vol) vol.108 
Number (no) no.480 
Page pp.219-224 
#Pages 6 
Date of Issue 2009-03-04 (NC) 

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