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Paper Abstract and Keywords
Presentation 2020-12-18 16:05
Analysis of the finger joint coordination in reach and grasp movements with obstacle avoidance.
Shuhei Horoiwa, Naohiro Fukumura (Toyohashi Univ. of Tech.) NC2020-31
Abstract (in Japanese) (See Japanese page) 
(in English) Human fingers have many joint angles, and therefore, human properly coordinates the joints to correspond to various objects in the reach to grasp movements. In the previous study, the finger joint angles during the reach and grasp movements was were measured and UCM analysis was performed to research the change in the coordination. It has been reported that the coordination became high at the preshaping stage that was preparing the hand shape. In this research, we focus on the change of the coordination of the finger joints when an obstacle is placed on the trajectory of the hand in the reach to grasp movements. As a result, we found that depending on the change of timing when the hand aperture have a maximum value, the timing when the increasing rate of coordination changed that is thought to be the preshaping stage.
Keyword (in Japanese) (See Japanese page) 
(in English) reach-to-grasp movement / Preshaping / joints coordination / obstacle avoidance / UCM analysis / / /  
Reference Info. IEICE Tech. Rep., vol. 120, no. 302, NC2020-31, pp. 19-24, Dec. 2020.
Paper # NC2020-31 
Date of Issue 2020-12-11 (NC) 
ISSN 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 NC2020-31

Conference Information
Committee MBE NC  
Conference Date 2020-12-18 - 2020-12-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Online 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2020-12-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Analysis of the finger joint coordination in reach and grasp movements with obstacle avoidance. 
Sub Title (in English)  
Keyword(1) reach-to-grasp movement  
Keyword(2) Preshaping  
Keyword(3) joints coordination  
Keyword(4) obstacle avoidance  
Keyword(5) UCM analysis  
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Keyword(7)  
Keyword(8)  
1st Author's Name Shuhei Horoiwa  
1st Author's Affiliation Toyohashi University of Technology (Toyohashi Univ. of Tech.)
2nd Author's Name Naohiro Fukumura  
2nd Author's Affiliation Toyohashi University of Technology (Toyohashi Univ. of Tech.)
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Speaker Author-1 
Date Time 2020-12-18 16:05:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2020-31 
Volume (vol) vol.120 
Number (no) no.302 
Page pp.19-24 
#Pages 6 
Date of Issue 2020-12-11 (NC) 

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