Inaccuracy of Internal Models in Force Fields and Complementary Use of Impedance Control

DOI Web Site Web Site 4 Citations 23 References
  • Tomi Naoki
    Interdisciplinary Graduate School of Science and Engi-neering, Tokyo Institute of Technology
  • GOUKO Manabu
    Interdisciplinary Graduate School of Science and Engi-neering, Tokyo Institute of Technology
  • KONDO Toshiyuki
    Institute of Symbiotic Science and Technology, Tokyo University of Agriculture and Technology
  • ITO Koji
    Interdisciplinary Graduate School of Science and Engi-neering, Tokyo Institute of Technology

Bibliographic Information

Other Title
  • 力場環境下における内部モデルの不完全性とインピーダンス制御による補完
  • リキバ カンキョウカ ニ オケル ナイブ モデル ノ フカンゼンセイ ト インピーダンス セイギョ ニ ヨル ホカン

Search this article

Abstract

In daily life, humans must compensate for the resultant force arising from interaction with the physical environment. Recent studies have shown that humans can acquire a neural representation of the relation between motor command and movement, i.e. learn an internal model of the environment dynamics. In this paper, we investigate motor adaptation of human arm movements to external dynamics. In the experiment, we examine whether humans can learn an internal model of a “mixed force field”(V+P) which is sum of a “velocity-dependent force field”(V) and a “position-dependent force field”(P). The experiment results show that the subjects did not learn the internal model of V+P accurately and they compensated the loads by using impedance control. Our results suggest that humans use impedance control when internal models become inaccurate because of the complexity of external dynamics.

Journal

Citations (4)*help

See more

References(23)*help

See more

Related Projects

See more

Keywords

Details 詳細情報について

Report a problem

Back to top