ヒトの上肢運動における軌道制御

• 加島 正

  北海道職業能力開発短期大学校

• 石動 善久

  北海道大学工学部

書誌事項

タイトル別名

• Trajectory Formation in Human Arm Movements
• ヒト ノ ジョウシ ウンドウ ニ オケル キドウ セイギョ

抄録

In view of trajectory formation in human arm movements, various objective functions are proposed such as jerk for a hand, torque-change of joints and so on. However, these are not determined from physiological characteristics of a human arm, and it is difficult to explain directly the necessity why humans select such trajectories.<br>In this study, an objective function which is based on expended energy in muscles and joints of an arm is proposed. Experiments have been conducted for movements of a human arm in a vertical plane passing through the shoulder so that movements are influenced by gravity. Then, measured trajectories are compared with those formulated with the objective function. The results show good agreements between measured and formulated trajectories. It is also verified that different types of trajectories are selected according to humans and the proposed objective function retains applicability to formulate the corresponding trajectories which vary with humans. Finally, trajectories selected by humans are analyzed with the formulated trajectories, and the physiological and dynamic characteristics of human arm movements are discussed.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 31 (9), 1416-1422, 1995

  公益社団法人 計測自動制御学会

キーワード

• trajectory formation
• human arm movements
• optimal control

詳細情報

• CRID: 1390282679477189120
• NII論文ID: 10002485586
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr1965.31.1416
• ISSN: 18838189
• ISSN: 04534654
• ISSN: http://id.crossref.org/issn/04534654
• NDL書誌ID: 3621316
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3621316
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/31/9/31_9_1416/_pdf
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可