Towards Understanding of Human Movements Constrained by the External Environment

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

研究成果: 会議への寄与タイプ論文

7 引用 (Scopus)

抄録

The paper deals with the problem of the trajectory formation in human movements constrained by the external environment. To investigate this problem, we examine reaching movements of the human arm in a crank rotation task. The experimental data show that after learning and accommodation the position, velocity, and the tangential force trajectories converge to unique profiles while that of the normal force does not. To explain the formation of the human trajectories observed in the experiments, we resort to the optimization approach. Different criteria of optimality are analyzed using simplified kinematic and dynamic models. From the kinematic analysis we suggested that in the process of learning and adaptation the brain constructs a suitable parameterization of the constraint manifold. In the dynamic analysis it is found that the human trajectories cannot not be captured by a single conventional criterion. It is shown that a weighted combination of the hand force changes and the joint torque changes produces better results but brings the problem of weight selection.

元の言語英語
ページ155-161
ページ数7
出版物ステータス出版済み - 12 26 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, 米国
継続期間: 10 27 200310 31 2003

その他

その他2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
米国
Las Vegas, NV
期間10/27/0310/31/03

Fingerprint

Trajectories
Kinematics
Parameterization
Dynamic analysis
Dynamic models
Brain
Torque
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Svinin, M., Ohta, K., Luo, Z. W., & Hosoe, S. (2003). Towards Understanding of Human Movements Constrained by the External Environment. 155-161. 論文発表場所 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 米国.

Towards Understanding of Human Movements Constrained by the External Environment. / Svinin, M.; Ohta, K.; Luo, Z. W.; Hosoe, S.

2003. 155-161 論文発表場所 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 米国.

研究成果: 会議への寄与タイプ論文

Svinin, M, Ohta, K, Luo, ZW & Hosoe, S 2003, 'Towards Understanding of Human Movements Constrained by the External Environment', 論文発表場所 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 米国, 10/27/03 - 10/31/03 pp. 155-161.
Svinin M, Ohta K, Luo ZW, Hosoe S. Towards Understanding of Human Movements Constrained by the External Environment. 2003. 論文発表場所 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 米国.
Svinin, M. ; Ohta, K. ; Luo, Z. W. ; Hosoe, S. / Towards Understanding of Human Movements Constrained by the External Environment. 論文発表場所 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 米国.7 p.
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