Human hand stiffness during discrete point-to-point multi-joint movement
Human hand stiffness during discrete point-to-point multi-joint movement
复制标题
离散点对点多关节运动过程中人手的僵硬
DOI：
10.1109/iembs.1992.5761956
复制
发表时间：
1992
期刊：
影响因子：
--
通讯作者：
M. Kawato
中科院分区：
文献类型：
--
作者：
H. Gomi;Y. Koike;M. Kawato
为了研究中枢神经系统控制手臂的计算策略，我们比较了离散多关节手臂运动过程中的动态手部刚度和姿势控制过程中的静态刚度。通过施加小扰动获得的运动过程中的估计刚度低于运动结束时的静态姿势。这一结果支持了我们的仿真研究，虚拟的平衡轨迹的手是复杂的形状，以补偿非线性的相互作用力的多关节臂，特别是快速运动。
We compared dynamic hand stiffness during discrete multi-joint arm movement and static stiffness during posture control in order to investigate computational strategy for arm control by the central nervous system. Estimated stiffness during movement obtained by applying small perturbations were lower than those during static posture near the end of the movement. This result supports our simulation study that the virtual equilibrium trajectory of the hand is complicated in its shape to compensate nonlinear interaction forces of the multi-joint arm especially for fast movements.