ヒトの上股運動における軌道制御 Trajectory Formation in Human Arm Movements
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.
計測自動制御学会論文集 31(9), 1416-1422, 1995-09
The Society of Instrument and Control Engineers