DEALING WITH CONSTRAINTS: OPTIMAL TRAJECTORIES OF THE CONSTRAINED HUMAN ARM MOVEMENTS |
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| Ken Ohta, Mikhail Svinin, ZhiWei Luo, Shigeyuki Hosoe |
- Abstract:
- Opening a door, turning a steering wheel, rotating a coffee mill are typical examples of human movements that require physical interaction with external environment. In these tasks, the human arm is kinematically constrained by the external environment. Although there are infinite possibilities for human subject to select his/her arm trajectories as well as interacting forces, experimental data of human constrained motion show that there exists some regulation inherent in all the measurement data. It is suggested in this paper that in the constrained movements human optimizes the criterion that minimizes the change of the hand contact forces as well as the muscle forces. This criterion differs from the minimum torque change criterion, predicting unconstrained reaching movements. Our experiments show close matching between the prediction and the subjects' data. Therefore, human may use different optimization strategies when performing constrained movements.
- Keywords:
- Crank rotation task, Constrained movement, Optimal trajectory
- Download:
- PWC-2003-TC18-008.pdf
- DOI:
- -
- Event details
- Event name:
- XVII IMEKO World Congress
- Title:
Metrology in the 3rd Millennium
- Place:
- Dubrovnik, CROATIA
- Time:
- 22 June 2003 - 28 June 2003