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Observation of Human Multi-Joint Arm Movement from the Viewpoint of a Riemannian Distance
Masahiro Sekimoto,Suguru Arimoto,Boris I. Prilutsky,Tadao Isaka,Sadao Kawamura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper aims at analyzing dynamic characteristics of human arm movements from the viewpoint of Rie-manni an distance. In order to evaluate the amount of inertia-induced movement of a multi-joint arm, a measure called inertia-induced measure is developed. By applying the measure to actual human reaching, it is shown that the smooth reaching tends to be closer to the inertia-induced movement than the clumsy reaching. From this observation, it is sug-gested that humans use their own inertia properties efficiently in smooth reaching.