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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...
A new optimal control model of human arms has been developed to simulate two-point reaching movement characteristics for human three-joint arms (shoulder, elbow, and wrist joints) and its fundamental performance has been clarified. The new model is formulated by extending the previous two-joint modified minimum torque-change model to a three-joint model with a freezing mechanism in its wrist joint...
We have already formulated a new optimal control model of the human three-joint arm system characterized by its hand-joint's freezing mechanism, and clarified that this model has the ability to explain the experimental fact that the hand joint hardly changes its angle in human three-joint arm's unconstrained reaching movements. However, it is not verified whether the three-joint model has the ability...
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