Quantitative Examinations for Human Arm Trajectory Planning in Three-Dimensional Space
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概要
- 論文の詳細を見る
The following two characteristics have been well demonstrated about the feature of a point-to-point human arm movement on a plane. (1) The path is a roughly straight line, but is slightly curved. (2) The velocity profile is bell shaped with a single peak. Several models have been proposed to explain these features. Four criteria for trajectory planning based on optimal principles have been proposed. They were the minimum hand jerk criterion, the minimum angle jerk criterion, the minimum torque change criterion, and the minimum commanded torque change criterion. It has shown that trajectories generated by the minimum commanded-torque change model correspond well with measured trajectories in a horizontal and sagittal work space. However, it was very difficult to establish a robust method for obtaining an optimal trajectory based on the minimum commanded torque change criterion because we have to solve a nonlinear, optimization problem. Recently, Kaneko et al. proposed a new method to stably calculate optimal trajectories based on the minimum commanded torque change criterion. The method can obtain trajectories satisfying Euler-Poisson equations with a sufficiently high accuracy. We show that optimal trajectories based on the minimum commanded torque change criterion in threedimensional space can be calculated by applying the method. Finally, we show that the measured trajectory is closest to the minimum commanded torque change trajectory by statistical examination of many point-to-point trajectories in three dimensional space.
- 社団法人電子情報通信学会の論文
- 2002-03-01
著者
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Wada Yasuhiro
Nagaoka University Of Technology
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KAWATO Mitsuo
ATR Human Information Processing Research Laboratories
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YAMANAKA Kazuhiro
Nagaoka University of Technology
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Kawato Mitsuo
Atr Human Information Science Laboratories
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Kawato Mitsuo
Atr Human Information Processing Res. Labs.
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