| Project/Area Number |
09650467
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
計測・制御工学
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| Research Institution | Toyohashi University of Technology |
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Principal Investigator |
UNO Yoji Toyohashi University of Technology, Faculty of Engineering, Professor, 工学部, 教授 (10203572)
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| Co-Investigator(Kenkyū-buntansha) |
FUKUYAMA Naohiro Toyohashi University of Technology, Faculty of Engineering, Assistant Researcher, 工学部, 助手 (90293753)
KATAYAMA Masazumi Toyohashi University of Technology, Faculty of Engineering, Lecturer, 工学部, 講師 (90273325)
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| Project Period (FY) |
1997 – 1999
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| Project Status |
Completed (Fiscal Year 1999)
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| Budget Amount *help |
¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 1999: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1998: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 1997: ¥1,900,000 (Direct Cost: ¥1,900,000)
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| Keywords | movement trajectory / motor learning / movement measurement / movement task / optimal trajectory / performance index / motion control / functional electrical stimulation / 運動軌動 / 最適軌動 / リハビリテーション / 生体 / 制御メカニズム |
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| Research Abstract |
We investigate trajectory planning and control in human arm movements. It is well known that human hand trajectories have common spatiotemporal features. The prominent feature is that when moving the hand between a pair of targets the human tends to generate roughly straight hand paths with single-peaked, bell-shaped velocity profiles.
For quantitative and statistical investigation, we obtained a large amount of trajectory data with a wide rage of the workspace and examined some performance indices for trajectory planning. We conformed that a minimum-torque-change model reproduced actual trajectories best. In the minimum-torque-change model, the brain plans trajectories according to the criterion of smoothness. It has been confirmed that the smoothness criterion is used in human unconstrained reaching movements.
We examined whether the smoothness is always achieved when a human is required the most quick motion. This requirement is contrary to the smoothness criterion. Using computer sim
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ulation, we confirmed that a minimum-movement-time trajectory is concave toward a body and its velocity profile has a double peak. In psychophysical experiments, subjects were asked to move their hands from a start position to a target position as quick as possible. We observed that the subjects produced approximately straight hand paths will bell-shaped velocity profiles ; that is, hand trajectories in the time-minimizing task were similar to the minimum-torque-change trajectory rather than the minimum-movement-time trajectory. Moreover, we asked the subjects to perform reaching movements through a zone so that hand trajectories come near to the minimum-movement-time trajectory. After some adequate instructions were given, the subjects generated curved hand paths, which were similar to the minimum-movement-time trajectory, and the movement duration of their via-point movements was shorter than that of simple point-to-point movements. These experimental results suggest that the brain always plans optimal trajectories on the basis of the smoothness criterion. Less
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