A computational trajectory formation model for the human sagittal plane movement at various motion durations

Citation
Y. Wada et al., A computational trajectory formation model for the human sagittal plane movement at various motion durations, NEUROCOMPUT, 38, 2001, pp. 1589-1594
Citations number
8
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
NEUROCOMPUTING
ISSN journal
0925-2312 → ACNP
Volume
38
Year of publication
2001
Pages
1589 - 1594
Database
ISI
SICI code
0925-2312(200106)38:<1589:ACTFMF>2.0.ZU;2-X
Abstract
We have confirmed from human arm movement measurement on the sagittal plane that the highest position in the vertical direction where the hand passes through changes according to the motion duration. In this paper, we propose an estimation algorithm of the position where the hand passes through acco rding to the variation in the motion duration. We add the algorithm into th e hardware of the trajectory formation model, i.e., the forward inverse rel axation model, which is the trajectory formation model based on the minimum commanded torque change criterion. Finally, we show that the model can rep roduce the same trajectories as the human trajectories at various motion du rations on the sagittal plane. (C) 2001 Elsevier Science B.V. All rights re served.