On the trajectory formation of the human arm constrained by the external environment

K. Ohta, M. M. Svinin, Z. W. Luo, S. Hosoe

研究成果: ジャーナルへの寄稿会議記事査読

4 被引用数 (Scopus)

抄録

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 the mobility of the human arm and leads to the redundancy in the distribution of the interaction force between the arm joints. Due to the redundancy of the force actuation in the constrained motions, there is infinite number of ways to form the trajectory of the arm. However, human forms the hand trajectory in a unique way. How does human resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate these problems, we examine the trajectory of human arm in a crack rotation task. To explain the trajectory formation in constrained point-to-point motions, we formulate an optimal control problem and propose a novel criterion minimizing the hand contact force change and muscle force change over the time of movement. The simulation results are compared with human motion and force profiles obtained experimentally. It is shown that the novel criterion captures the characteristics of the human constrained motion much more satisfactory than conventional criteria accepted in the research community.

本文言語英語
ページ(範囲)2884-2891
ページ数8
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2
出版ステータス出版済み - 12月 9 2003
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, 台湾
継続期間: 9月 14 20039月 19 2003

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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