316 手首関節のフリージング機構とエネルギー最適化を備えたヒト3関節腕の最適制御モデル

概要

論文の詳細を見る
A new optimal control model of human arms has been developed to simulate two-point reaching movement characteristics for the human three-joint arm system. This model optimizes its evaluation function in which three kinds of energy are incorporated into the evaluation function of the previous modified minimum-torque change model with a wrist joint's freezing mechanism. Consequently, the following results were clarified: (1) the new model reproduces two-point reaching movement characteristics for the human three-joint arm system; (2) this new model's function is not dependent on target positions. These suggest that the new model is more effective as a model of the human three-joint arm control system and that energy optimization can involve the trajectory planning of two-point reaching movements.
社団法人日本機械学会の論文
2008-09-02