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| 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 |
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| 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 | |
| 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 | NC2012-164 |
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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 |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 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 |
| #Pages | 6 |
| Date of Issue | 2013-03-06 (NC) |
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