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 |
Keyword(6) |
|
Keyword(7) |
|
Keyword(8) |
|
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) |
4th Author's Name |
|
4th Author's Affiliation |
() |
5th Author's Name |
|
5th Author's Affiliation |
() |
6th Author's Name |
|
6th Author's Affiliation |
() |
7th Author's Name |
|
7th Author's Affiliation |
() |
8th Author's Name |
|
8th Author's Affiliation |
() |
9th Author's Name |
|
9th Author's Affiliation |
() |
10th Author's Name |
|
10th Author's Affiliation |
() |
11th Author's Name |
|
11th Author's Affiliation |
() |
12th Author's Name |
|
12th Author's Affiliation |
() |
13th Author's Name |
|
13th Author's Affiliation |
() |
14th Author's Name |
|
14th Author's Affiliation |
() |
15th Author's Name |
|
15th Author's Affiliation |
() |
16th Author's Name |
|
16th Author's Affiliation |
() |
17th Author's Name |
|
17th Author's Affiliation |
() |
18th Author's Name |
|
18th Author's Affiliation |
() |
19th Author's Name |
|
19th Author's Affiliation |
() |
20th Author's Name |
|
20th Author's Affiliation |
() |
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 |
6 |
Date of Issue |
2013-11-15 (NC) |
|