On the dynamic version of the minimum hand jerk criterion

Mikhail Mikhailovich Svinin, Yohei Masui, Zhi Wei Luo, Shigeyuki Hosoe

研究成果: Contribution to journalReview article査読

17 被引用数 (Scopus)

抄録

This paper is concerned with the problem of trajectory formation of humanlike reaching movements. First, we review conventional criteria of optimality adopted in robotics and computational neuroscience for the prediction of reaching movements and formulate a dynamic version of the minimum hand jerk criteria, We call it a minimum driving force change criterion and check its performance for the free-space movements. Next, we test the performance of the new criterion for the movements where the human hand is geometrically constrained by the external environment, and for the movements with flexible objects. The main feature of these movements is that the hand velocity profiles are not always bell shaped. Our simulations and initial experimental results show that the minimum driving force change criterion can roughly capture this feature and, therefore, can be a reasonable candidate for modeling of humanlike reaching movements.

本文言語英語
ページ(範囲)661-676
ページ数16
ジャーナルJournal of Robotic Systems
22
11
DOI
出版ステータス出版済み - 11 1 2005

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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