MISC

査読有り 筆頭著者 責任著者
2012年

A numerical simulation using optimal control can estimate stiffness profiles of a monkey arm during reaching movements

International Workshop on Advanced Motion Control, AMC
  • Yuki Ueyama
  • ,
  • Eizo Miyashita

開始ページ
1
終了ページ
6
記述言語
英語
掲載種別
記事・総説・解説・論説等(国際会議プロシーディングズ)
DOI
10.1109/AMC.2012.6197109

An understanding of how the brain constrains dimensions of freedom to control the body would be beneficial for the robotic engineering of a humanoid robot. We estimated joint stiffness in a female Japanese monkey (Macaca fuscata) during arm reaching movements and carried out a numerical simulation. The estimated stiffness was high at movement onset and movement end, and decreased at the mid-point of the movement. These characteristic patterns were reproduced by the numerical simulation using a 2-link 6-muscle arm model and an approximately optimal feedback control. Although the arm model was a redundant system with multiple dimensions of freedom, the optimal control was able to solve the redundancy problem by optimizing a task-relevant cost function. We suggest that the brain may control the body according to a similar optimal control law. © 2012 IEEE.

リンク情報
DOI
https://doi.org/10.1109/AMC.2012.6197109
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84861623229&origin=inward
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=84861623229&origin=inward
ID情報
  • DOI : 10.1109/AMC.2012.6197109
  • SCOPUS ID : 84861623229

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