Optimal trajectory formation of constrained human arm reaching movements

被引:76
作者
Ohta, K [1 ]
Svinin, MM
Luo, ZW
Hosoe, S
Laboissière, R
机构
[1] Max Planck Inst Human Cognit & Brain Sci, Sensorimotor Coordinat, Munich, Germany
[2] RIKEN, Biomimet Control Res Ctr, Nagoya, Aichi, Japan
[3] Nagoya Univ, Fac Engn, Nagoya, Aichi 464, Japan
关键词
D O I
10.1007/s00422-004-0491-5
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 [计算机科学与技术];
摘要
Opening a door, turning a steering wheel, and rotating a coffee mill are typical examples of human movements that are constrained by the physical environment. The constraints decrease the mobility of the human arm and lead to redundancy in the distribution of actuator forces (either joint torques or muscle forces). Due to this actuator redundancy, there is an infinite number of ways to form a specific arm trajectory. However, humans form trajectories in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate this problem, we examine human arm movements in a crank-rotation task. To explain the trajectory formation in constrained point-to-point motions, we propose a combined criterion minimizing the hand contact force change and the actuating force change over the course of movement. Our experiments show a close matching between predicted and experimental data.
引用
收藏
页码:23 / 36
页数:14
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