ヒトの上股運動における軌道制御 Trajectory Formation in Human Arm Movements

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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, 1995-09 

    The Society of Instrument and Control Engineers

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各種コード

  • NII論文ID(NAID)
    10002485586
  • NII書誌ID(NCID)
    AN00072392
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    04534654
  • NDL 記事登録ID
    3621316
  • NDL 刊行物分類
    M045;M051
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-482
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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