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Paper Abstract and Keywords
Presentation 2013-03-14 15:05
Joint coordination of a multi-joint arm for target tracking task
Shunta Togo, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) NC2012-164
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we measured and analyzed a one-dimensional target tracking task in which human subjects tracked one-dimensional target trajectory of the hand. In this task, the direction orthogonal to the movement direction is task-irrelevant. As a result, the hand position at the movement end was more varied in the task-irrelevant direction. Moreover, the profile of tangential hand velocity was roughly bell-shaped but they also had small peaks. Results of UCM analysis which is used to quantify the joint coordination showed that the task-irrelevant variance increased with time. These characteristics of kinematics and joint coordination were well reproduced by our UCM reference feedback control. UCM reference feedback control generates a target UCM space each time step and selects one point in UCM space. These results suggest that the human refers to UCM space step by step to control a multi-joint arm allowing the task-irrelevant variability. Moreover, it is suggested that the human would represent UCM space in visuomotor control system.
Keyword (in Japanese) (See Japanese page) 
(in English) Joint coordination / Uncontrolled manifold analysis / Synergy / Feedback control / Redundant arm / / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 480, NC2012-164, pp. 173-178, March 2013.
Paper # NC2012-164 
Date of Issue 2013-03-06 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
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)
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Conference Information
Committee MBE NC  
Conference Date 2013-03-13 - 2013-03-15 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2013-03-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Joint coordination of a multi-joint arm for target tracking task 
Sub Title (in English)  
Keyword(1) Joint coordination  
Keyword(2) Uncontrolled manifold analysis  
Keyword(3) Synergy  
Keyword(4) Feedback control  
Keyword(5) Redundant arm  
1st Author's Name Shunta Togo  
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 Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2013-03-14 15:05:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2012-164 
Volume (vol) vol.112 
Number (no) no.480 
Page pp.173-178 
Date of Issue 2013-03-06 (NC) 

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