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Paper Abstract and Keywords
Presentation 2013-11-22 13:25
The wrist-impedance learning-control model based on prediction uncertainty
Hiromu Ogawa, Hiroyuki Kambara, Yasuharu Koike (Titech) NC2013-47
Abstract (in Japanese) (See Japanese page) 
(in English) If you ride a bicycle on bumpy road, you may grip handle-bars to prepare for unpredictable impulse. Although we know that human controls joint impedance based on prediction-uncertainty, it wasn't revealed how our brain acquires that control strategy. To reveal the learning mechanism, we executed both an experiment and a computer simulation. In the experiment, subjects tried ball-catching in several uncertainty environments and showed positive correlation between uncertainty and their wrist joint impedance. In the simulation, our proposed model tried same task and acquired a control strategy like human. These results suggest human control joint impedance optimally based on trade-off between movement accuracy and energy consumption in uncertainty environment.
Keyword (in Japanese) (See Japanese page) 
(in English) uncertainty / impedance control / optimal feedback control / feedforward control / motor learning / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 315, NC2013-47, pp. 7-12, Nov. 2013.
Paper # NC2013-47 
Date of Issue 2013-11-15 (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 NC2013-47

Conference Information
Committee NC MBE  
Conference Date 2013-11-22 - 2013-11-23 
Place (in Japanese) (See Japanese page) 
Place (in English) Tohoku University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) BCI/BMI, NC and MBE 
Paper Information
Registration To NC 
Conference Code 2013-11-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) The wrist-impedance learning-control model based on prediction uncertainty 
Sub Title (in English)  
Keyword(1) uncertainty  
Keyword(2) impedance control  
Keyword(3) optimal feedback control  
Keyword(4) feedforward control  
Keyword(5) motor learning  
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1st Author's Name Hiromu Ogawa  
1st Author's Affiliation Tokyo Institute of Technology (Titech)
2nd Author's Name Hiroyuki Kambara  
2nd Author's Affiliation Tokyo Institute of Technology (Titech)
3rd Author's Name Yasuharu Koike  
3rd Author's Affiliation Tokyo Institute of Technology (Titech)
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Speaker Author-1 
Date Time 2013-11-22 13:25:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2013-47 
Volume (vol) vol.113 
Number (no) no.315 
Page pp.7-12 
#Pages
Date of Issue 2013-11-15 (NC) 


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