手関節にフリージング機構を導入したヒト3関節腕運動制御機構の最適制御モデル(機械力学,計測,自動制御)

概要

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We have formulated a new optimal control model of the human three-joint arm system characterized by a hand-joint's freezing mechanism. The new model possesses a freezing mechanism in its hand joint and optimizes its evaluation function composed of three kinds of energy terms and torque-change term. The freezing mechanism is a feedback controller to simulate the muscle dynamics contracting agonists and antagonists together. The following results were clarified: (1) the new model does not reproduce reaching movement characteristics for the human three-joint arm system by minimizing the torque-change term; (2) the new model reproduces them regardless of target positions by minimizing the energy terms. These results suggest that the new model with a freezing mechanism in its hand joint can be effective as a general and plausible model of the human three-joint arm control system and that energy optimizaion can involve the trajectory planning of human three-joint arm's reaching movements.
2010-02-25