著者

渋沢 貴久 竹下 孝樹 本多 舞 松井 利一

出版者

一般社団法人日本機械学会

雑誌

ジョイント・シンポジウム講演論文集 : スポーツ工学シンポジウム : シンポジウム:ヒューマン・ダイナミックス : symposium on sports engineering : symposium on human dynamics

巻号頁・発行日

vol.2007, pp.216-221, 2007-11-13

被引用文献数

2

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So far, many kinds of human two-joint arm control models with shoulder and elbow joints have been proposed to simulate human two-point reaching movements. However, in order to simulate human arm movements accurately, it is desirable that the human arm control system should be formulated as a three joint model including a wrist joint. In this research, we extend the modified minimum-torque-change model to a three joint model and incorporate a freezing mechanism into its wrist joint. Actually, the freezing system is a feedback controller to simulate the muscle dynamics contracting agonists and antagonists together. Consequently, it was clarified that the extended model can reproduce two-point reaching movement characteristics for the human three-joint arm system: the end-point variability of hand trajectories and the relationship between end-point variability and movement time (Fitts' law). This suggests that the extended model characterized by the freezing wrist joint functions effectively as a model of the human three joint arm control system.