355 修正トルク変化最小規範を用いた腕の2点間到達運動制御モデル

概要

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So far, it has been shown that the minimum-torque-change model with fixed boundary conditions is effective in reproducing characteristics for human reaching movements. However, the conventional model had no ability to reproduce the variability of end points of the hand trajectories in human reaching movements. This report focuses on formulating a new human arm control model with free boundary conditions, a modified minimum-torque-change model, to overcome the defect of the conventional model and examining the proposed model's fundamental performance. As a result, it was clarified that the modified model can reproduce the end-point variability of the hand trajectories by changing its weight parameters and the relationship (Fitts' law) between the end-point variability and the movement time. This suggests that the modified model is more effective as a model of the human arm control system.
一般社団法人日本機械学会の論文
2006-08-06