B4 手首関節のフリージング機構を持つ3関節腕の最適制御モデル(生体1)

概要

論文の詳細を見る
So far, many kinds of human two-joint arm control models with shoulder and elbow joints have been proposed to simulate human two-point reaching movements. However, in order to simulate human arm movements accurately, it is desirable that the human arm control system should be formulated as a three joint model including a wrist joint. In this research, we extend the modified minimum-torque-change model to a three joint model and incorporate a freezing mechanism into its wrist joint. Actually, the freezing system is a feedback controller to simulate the muscle dynamics contracting agonists and antagonists together. Consequently, it was clarified that the extended model can reproduce two-point reaching movement characteristics for the human three-joint arm system: the end-point variability of hand trajectories and the relationship between end-point variability and movement time (Fitts' law). This suggests that the extended model characterized by the freezing wrist joint functions effectively as a model of the human three joint arm control system.
社団法人日本機械学会の論文
2007-11-13