軌道追従タスクにおける多関節腕の協調制御

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  • キドウ ツイジュウ タスク ニ オケル タカンセツ ワン ノ キョウチョウ セイギョ
  • Joint coordination of a multi-joint arm for target tracking task

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In this paper, we measured and analyzed a one-dimensional target tracking task in which human subjects tracked one-dimensional target trajectory of the hand. In this task, the direction orthogonal to the movement direction is task-irrelevant. As a result, the hand position at the movement end was more varied in the task-irrelevant direction. Moreover, the profile of tangential hand velocity was roughly bell-shaped but they also had small peaks. Results of UCM analysis which is used to quantify the joint coordination showed that the task-irrelevant variance increased with time. These characteristics of kinematics and joint coordination were well reproduced by our UCM reference feedback control. UCM reference feedback control generates a target UCM space each time step and selects one point in UCM space. These results suggest that the human refers to UCM space step by step to control a multi-joint arm allowing the task-irrelevant variability. Moreover, it is suggested that the human would represent UCM space in visuomotor control system.

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