By Topic

Effectiveness of human three-joint arm's optimal control model characterized by hand-joint's freezing mechanism in reproducing constrained reaching movement characteristics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Matsui, T. ; Grad. Sch. of Eng., Gunma Univ., Gunma, Japan ; Takeshita, K. ; Shibusawa, T.

We have already formulated a new optimal control model of the human three-joint arm system characterized by its hand-joint's freezing mechanism, and clarified that this model has the ability to explain the experimental fact that the hand joint hardly changes its angle in human three-joint arm's unconstrained reaching movements. However, it is not verified whether the three-joint model has the ability to reproduce experimentally measured characteristics for human three-joint arm's constrained reaching movements. This research examines what optimal trajectories the three-joint model produces for human three-joint arm's constrained reaching movements and compares them with experimentally measured ones. Consequently, it was clarified that the three-joint model reproduces experimentally measured trajectories and hand-joint-angle's transition characteristics for human three-joint arm's constrained reaching movements as well as unconstrained ones regardless of target positions. This result suggests that the three-joint model with the hand-joint's freezing mechanism can be effective as a general and plausible model of the human three-joint arm's control mechanism.

Published in:


Date of Conference:

18-21 Aug. 2009