Control of Poly-Articular Chain Trajectory Using Temporal Sequence of Its Joints Displacements

• 作者: Pierre Legreneur Thomas Creveaux Vincent Bels
• 来源期刊: 智能控制与自动化(英文)
• 学科: 医学
• 关键词: Coordination Modeling Simulation SIGMOID POINTING JUMPING
• 年，卷（期）: 2011,（1）
• 页码范围: 38-46
• 页数: 9页
• 分类号: R73

摘要

This paper discusses on the role of joint temporal sequence while moving a two-dimensional arm from an initial position to targets into the fingertip workspace in humans. For this purpose, we proposed a general monotonic model of joint asymmetric displacement. Optimization consisted in minimizing least square dis-placement of either fingertip or arm centre of mass from arm initial position to four targets located into fin-gertip workspace, i.e. contralaterally and ipsilaterally. Except for 60° ipsilateral target, results of the simula-tion presented in all cases temporal sequences of the shoulder, the elbow and the wrist. We concluded that primary function of proximal-to-distal or distal-to-proximal joint sequence is to flatten the trajectory of the fingertip or body centre of mass.