トルク変化最小規範に基づく全身リーチング運動の解析

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  • トルク ヘンカ サイショウ キハン ニ モトズク ゼンシン リーチング ウンドウ ノ カイセキ
  • An analysis of whole body reaching movements based on minimum torque-change criterion

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Abstract

Optimal control models, e.g., minimum torque-change model and minimum jerk model, has been proposed for accounting for simple reaching movement of human. We investigate the trajectory formation of whole body reaching movement, in which a human multi-joint must to be controlled to reach the target and maintain the body balance. In the current work, we find out the feature of hand, center of mass, center of pressure trajectory by measuring human's whole body reaching. In addition, we propose a weighted minimum torque-change model to reconstruct whole body reaching. This model can reconstruct whole body reaching. Finally, we discuss the physical meaning of weight of the cost function.

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