手関節にフリージング機構を導入したヒト3関節腕運動制御機構の最適制御モデル(機械力学,計測,自動制御)

DOI Web Site Web Site 参考文献19件

書誌事項

タイトル別名
  • An Optimal Control Model for Human Three-Joint Arm's Reaching Movements Including Hand Joint's Freezing Mechanism(Mechanical Systems)
  • 手関節にフリージング機構を導入したヒト3関節腕運動制御機構の最適制御モデル
  • シュカンセツ ニ フリージング キコウ オ ドウニュウ シタ ヒト 3 カンセツ ワン ウンドウ セイギョ キコウ ノ サイテキ セイギョ モデル

この論文をさがす

抄録

We have formulated a new optimal control model of the human three-joint arm system characterized by a hand-joint's freezing mechanism. The new model possesses a freezing mechanism in its hand joint and optimizes its evaluation function composed of three kinds of energy terms and torque-change term. The freezing mechanism is a feedback controller to simulate the muscle dynamics contracting agonists and antagonists together. The following results were clarified: (1) the new model does not reproduce reaching movement characteristics for the human three-joint arm system by minimizing the torque-change term; (2) the new model reproduces them regardless of target positions by minimizing the energy terms. These results suggest that the new model with a freezing mechanism in its hand joint can be effective as a general and plausible model of the human three-joint arm control system and that energy optimizaion can involve the trajectory planning of human three-joint arm's reaching movements.

収録刊行物

参考文献 (19)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ