Optimal trajectory formation of human reaching movement in crank-rotation task

Ken Ohta, Mikhail Mikhailovich Svinin, Zhi Wei Luo, Shigeyuki Hosoe

Research output: Contribution to journalArticle

Abstract

Opening a door, turning a steering wheel, rotating a coffee mill are typical examples of human movements constrained by the external environment. The constraints decrease mobility of the human arm and lead to redundancy in the distribution of interaction force between the arm joints. Due to the redundancy of force actuation in the constrained motions, there is an infinite number of ways to form the arm trajectory. However, humans form the hand trajectory in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate these problems, we examine the trajectories of the human arm in a crank-rotation task. To explain the trajectory formation in constrained point-topoint motions, we propose a novel criterion minimizing hand contact force change and torque change over the time of the movement. Our experiments show a close matching between the prediction and the subjects' data. This indicates that in constrained movements the CNS naturally selects a moving contact frame as the criterion for the trajectory formation.

Original languageEnglish
Pages (from-to)22-32
Number of pages11
JournalSystems and Computers in Japan
Volume36
Issue number12
DOIs
Publication statusPublished - Nov 1 2005

Fingerprint

Optimal Trajectory
Trajectories
Trajectory
Redundancy
Motion
Coffee
Contact Force
Wheel
Torque
Movement
Human
Resolve
Wheels
Rotating
Contact
Decrease
Prediction
Interaction
Experiment
Experiments

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Information Systems
  • Hardware and Architecture
  • Computational Theory and Mathematics

Cite this

Optimal trajectory formation of human reaching movement in crank-rotation task. / Ohta, Ken; Svinin, Mikhail Mikhailovich; Luo, Zhi Wei; Hosoe, Shigeyuki.

In: Systems and Computers in Japan, Vol. 36, No. 12, 01.11.2005, p. 22-32.

Research output: Contribution to journalArticle

Ohta, Ken ; Svinin, Mikhail Mikhailovich ; Luo, Zhi Wei ; Hosoe, Shigeyuki. / Optimal trajectory formation of human reaching movement in crank-rotation task. In: Systems and Computers in Japan. 2005 ; Vol. 36, No. 12. pp. 22-32.
@article{7092d28974654aa0a1aa331d5244f993,
title = "Optimal trajectory formation of human reaching movement in crank-rotation task",
abstract = "Opening a door, turning a steering wheel, rotating a coffee mill are typical examples of human movements constrained by the external environment. The constraints decrease mobility of the human arm and lead to redundancy in the distribution of interaction force between the arm joints. Due to the redundancy of force actuation in the constrained motions, there is an infinite number of ways to form the arm trajectory. However, humans form the hand trajectory in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate these problems, we examine the trajectories of the human arm in a crank-rotation task. To explain the trajectory formation in constrained point-topoint motions, we propose a novel criterion minimizing hand contact force change and torque change over the time of the movement. Our experiments show a close matching between the prediction and the subjects' data. This indicates that in constrained movements the CNS naturally selects a moving contact frame as the criterion for the trajectory formation.",
author = "Ken Ohta and Svinin, {Mikhail Mikhailovich} and Luo, {Zhi Wei} and Shigeyuki Hosoe",
year = "2005",
month = "11",
day = "1",
doi = "10.1002/scj.20368",
language = "English",
volume = "36",
pages = "22--32",
journal = "Systems and Computers in Japan",
issn = "0882-1666",
publisher = "John Wiley and Sons Inc.",
number = "12",

}

TY - JOUR

T1 - Optimal trajectory formation of human reaching movement in crank-rotation task

AU - Ohta, Ken

AU - Svinin, Mikhail Mikhailovich

AU - Luo, Zhi Wei

AU - Hosoe, Shigeyuki

PY - 2005/11/1

Y1 - 2005/11/1

N2 - Opening a door, turning a steering wheel, rotating a coffee mill are typical examples of human movements constrained by the external environment. The constraints decrease mobility of the human arm and lead to redundancy in the distribution of interaction force between the arm joints. Due to the redundancy of force actuation in the constrained motions, there is an infinite number of ways to form the arm trajectory. However, humans form the hand trajectory in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate these problems, we examine the trajectories of the human arm in a crank-rotation task. To explain the trajectory formation in constrained point-topoint motions, we propose a novel criterion minimizing hand contact force change and torque change over the time of the movement. Our experiments show a close matching between the prediction and the subjects' data. This indicates that in constrained movements the CNS naturally selects a moving contact frame as the criterion for the trajectory formation.

AB - Opening a door, turning a steering wheel, rotating a coffee mill are typical examples of human movements constrained by the external environment. The constraints decrease mobility of the human arm and lead to redundancy in the distribution of interaction force between the arm joints. Due to the redundancy of force actuation in the constrained motions, there is an infinite number of ways to form the arm trajectory. However, humans form the hand trajectory in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate these problems, we examine the trajectories of the human arm in a crank-rotation task. To explain the trajectory formation in constrained point-topoint motions, we propose a novel criterion minimizing hand contact force change and torque change over the time of the movement. Our experiments show a close matching between the prediction and the subjects' data. This indicates that in constrained movements the CNS naturally selects a moving contact frame as the criterion for the trajectory formation.

UR - http://www.scopus.com/inward/record.url?scp=27144506617&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=27144506617&partnerID=8YFLogxK

U2 - 10.1002/scj.20368

DO - 10.1002/scj.20368

M3 - Article

VL - 36

SP - 22

EP - 32

JO - Systems and Computers in Japan

JF - Systems and Computers in Japan

SN - 0882-1666

IS - 12

ER -