Formulation of human movements by Riemannian distance interpreted in a dynamical sense

从黎曼距离的角度分析了多关节运动的动力学和数学特征，提出了惯性诱导度量。该测量提供了对多关节系统的惯性引起的运动量(通过惯性、科里奥利力和离心力进行的自由运动)的评估。通过对实际人体动作的测量，结果表明，平稳动作比笨拙动作更接近惯性动作。从这一观察结果可以看出，人类协调身体的不同区域，以便在平稳的运动中有效地利用自己的惯性诱导特性。在此基础上，设计了一种基于惯性诱导效应的多关节机器人运动控制方法。

A measure called inertia-induced measure was developed by analyzing dynamical and mathematical characteristics of multi-joint movements from the viewpoint of Riemannian distance. The measure provides evaluation of the amount of inertia-induced movement (free motion by inertia, Coriolis, and centrifugal forces) of a multi-joint system. By applying the measure to actual human movements, it was shown that the smooth movements tend to be closer to the inertia-induced movements than the clumsy movements. From this observation, it was suggested that humans coordinate various regions of their body so as to use their own inertia-induced properties efficiently in smooth movements. Based on the results, a motion control method for a multi-joint robot using the inertia-induced effect was designed.