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

Ken Ohta, Mikhail M. Svinin, Zhi Wei Luo, Shigeyuki Hosoe

研究成果: ジャーナルへの寄稿記事

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 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.

元の言語英語
ページ(範囲)22-32
ページ数11
ジャーナルSystems and Computers in Japan
36
発行部数12
DOI
出版物ステータス出版済み - 11 1 2005

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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

これを引用

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

:: Systems and Computers in Japan, 巻 36, 番号 12, 01.11.2005, p. 22-32.

研究成果: ジャーナルへの寄稿記事

Ohta, Ken ; Svinin, Mikhail M. ; Luo, Zhi Wei ; Hosoe, Shigeyuki. / Optimal trajectory formation of human reaching movement in crank-rotation task. :: Systems and Computers in Japan. 2005 ; 巻 36, 番号 12. pp. 22-32.
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