Muscle Synergies, Equilibrium–point Trajectory and Endpoint Stiffness during Human Upper–limb Movements on a Horizontal Plane: an Approach using EMG Signals
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- Uno Kanna
- Graduate School of Engineering Science, Osaka University
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- Oku Takanori
- Graduate School of Engineering Science, Osaka University
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- Koba Keitaro
- Graduate School of Engineering Science, Osaka University
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- Uemura Mitsunori
- Graduate School of Engineering Science, Osaka University
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- Hirai Hiroaki
- Graduate School of Engineering Science, Osaka University
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- Miyazaki Fumio
- Graduate School of Engineering Science, Osaka University
Bibliographic Information
- Other Title
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- 水平面内におけるヒト上肢運動時のEMG信号を利用した筋シナジー,平衡点軌道および手先剛性の新しい評価法の提案
- スイヘイメン ナイ ニ オケル ヒト ジョウシ ウンドウジ ノ EMG シンゴウ オ リヨウ シタ キン シナジー,ヘイコウテン キドウ オヨビ テサキ ゴウセイ ノ アタラシイ ヒョウカホウ ノ テイアン
- Muscle Synergies, Equilibrium^|^ndash;point Trajectory and Endpoint Stiffness during Human Upper^|^ndash;limb Movements on a Horizontal Plane: an Approach using EMG Signals
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Description
This paper focuses on the various movements of a human upper–limb on a horizontal plane and investigates the relationship among the muscle synergies, equilibrium–point (EP) trajectories and endpoint stiffness through the estimation of the EP trajectories and endpoint stiffness by two methods: (1) a novel estimation method by analyzing EMG signals under the concept of the agonist–antagonist (A–A) muscle pairs and (2) a conventional estimation method by using mechanical perturbations. The experimental results test the validity of the new method and suggest that (1) three muscle synergies represent the muscle activities of the human upper–limb movements on a horizontal plane; (2) each muscle synergy shows the balance among the coactivations of A–A muscle pairs; (3) the first and second muscle synergies are the invariant bases for the EP trajectory which is described in the polar coordinates centered on the shoulder joint. One synergy plays a role for the movement in the radius direction and another plays for the movement in the angular direction; and (4) the third muscle synergy is the invariant basis for additionally adjusting the endpoint stiffness. It influences the direction and size of the endpoint stiffness.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 32 (7), 603-614, 2014
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679706732416
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- NII Article ID
- 130004697451
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 025794202
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed