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- 저자 : Takahisa Shibusawa (검색결과 1 건)
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Effectiveness of Human Three-Joint Arm's Optimal Control Model Characterized by Hand
Toshikazu Matsui,Kouki Takeshita,Takahisa Shibusawa 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We have already formulated a new optimal control model of the human three-joint arm system characterized by its hand-joint"s freezing mechanism, and clarified that this model has the ability to explain the experimental fact that the hand joint hardly changes its angle in human three-joint arm"s unconstrained reaching movements. However, it is not verified whether the three-joint model has the ability to reproduce experimentally measured characteristics for human three-joint arm"s constrained reaching movements. This research examines what optimal trajectories the three-joint model produces for human three-joint arm"s constrained reaching movements and compares them with experimentally measured ones. Consequently, it was clarified that the three-joint model reproduces experimentally measured trajectories and hand-joint-angle"s transition characteristics for human three-joint arm"s constrained reaching movements as well as unconstrained ones regardless of target positions. This result suggests that the three-joint model with the hand-joint"s freezing mechanism can be effective as a general and plausible model of the human three-joint arm"s control mechanism.
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