Quantitative examinations for multi joint arm trajectory planning—using a robust calculation algorithm of the minimum commanded torque change trajectory

Wada, Yasuhiro; Kaneko, Y.; Nakano, Eri; Osu, Rieko; Kawato, Mitsuo

doi:10.1016/s0893-6080(01)00026-0

Cited by 80 publications

(73 citation statements)

References 9 publications

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“…We did not simulate arm movements predicted by the minimum torquechange criterion, since convergence to the optimal movement trajectory was sometimes hard to obtain. In addition, Wada et al (2001) showed that the minimum commanded torquechange model gave more accurate predictions than the min imum torque-change model and that minimum angular jerk simulations can be used as a good approximation to the pre dictions by the minimum commanded torque-change model.…”

Section: O D E L S Im U La Tio N Smentioning

confidence: 99%

“…Like Soechting et al (1995) the optimal trajectory was selected as the trajectory with minimum work halfway through the trajectory. The minimum angular jerk criterion (see Wada et al, 2001) minimizes the function:…”

Section: O D E L S Im U La Tio N Smentioning

confidence: 99%

“…Moreover, it shows the predictions by various mod els. In the table we included qualitative predictions of Don ders' law (Von Helmholtz, 1867), the equilibrium point hy pothesis (Feldman & Levin, 1995), the minimum angular jerk model (Wada et al, 2001), the minimum torque-change model (Uno et al, 1989), the minimum work model (Soecht ing et al, 1995), the minimum variance model (Harris & Wolpert, 1998), and the knowledge model (Rosenbaum et al, 1995).…”

Section: O D E L S Im U La Tio N Smentioning

confidence: 99%

“…Moreover, few studies tested the min imum torque-change hypothesis extensively for movements in 3-D. However, there is good evidence that the minimum commanded-torque-change model or the angular-jerk model might provide better predictions of experimental data than the minimum torque-change model (Wada, Kaneko, Nakano, Osu, & Kawato, 2001). Following our definition of posturebased and trajectory-based models, the best way to discrimi nate between posture-based and trajectory-based planning is investigated the effect of the path towards the goal position on the final arm posture.…”

Section: Introductionmentioning

confidence: 99%

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Posture-based or trajectory-based movement planning: a comparison of direct and indirect pointing movements

Hermens

Gielen

2004

Exp Brain Res

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P o stu re -b a se d o r tra je c to ry -b a se d m o v e m e n t p lan n in g ? A c o m p a riso n o f d ire c t a n d in d ire c t p o in tin g m o v e m e n ts F ro u k e H e rm e n s S tan G ie le n Departement of Biophysics University of Nijmegen Geert Grooteplein 21 6525 EZ Nijmegen The Netherlands E-mail: froukeh@mbfys.kun.nlVarious models have been proposed in the literature to explain the control of human arm movements. To make a quantitative comparison between the predictions of various models, we tested subjects for movements to targets on a vertical screen in various conditions. Subjects were asked to move directly from one target to another, or to move by a via point, at various movement velocities and in a condition with a weight of 0.6 kg attached to the forearm. This set of experimental data was used for comparison with the predictions by various posture-based and trajectory-based models on 3-D movement planning and control. Small, but significant effects of starting position and path towards the target were found on the torsion of the arm at the end of the movement. No effects of movement velocity and weight attached to the forearm were found. The experimental results differed significantly from the predictions by any of the models considered. Of the models considered Donders' law best predicts the experimental data. Our data demonstrate that for future tests of models of motor control (1) it is important to compare the predictions of not only one, but several models to a data set, (2) not only planar, but also 3D movements should be considered in such a comparison. 1

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Section: O D E L S Im U La Tio N Smentioning

confidence: 99%

Section: O D E L S Im U La Tio N Smentioning

confidence: 99%

Section: O D E L S Im U La Tio N Smentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Posture-based or trajectory-based movement planning: a comparison of direct and indirect pointing movements

Hermens

Gielen

2004

Exp Brain Res

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“…Unfortunately there is currently no direct neurophysiological evidence in support of such a control strategy. It has also been proposed that arm movements are controlled by minimizing the derivative of joint torques (Uno et al 1989;Nakano et al 1999;Wada et al 2001). However, this model overestimates the magnitude of curvature of pointing movements (Biess et al 2007).…”

Section: Computational Approachmentioning

confidence: 99%

Movement curvature planning through force field internal models

Petreska

Billard

2009

Biol Cybern

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Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. These movements are particularly interesting to study since they are essential in our everyday life, appear early in development and are routinely used to assess movement deficits following brain lesions. We argue that curved and straight-line reaching movements are generated by a unique neural controller and that the observed curvature of the movement is the result of an active control strategy that follows the geometry of one's body, for instance to avoid trajectories that would hit the body or yield postures close to the joint limits. We present a mathematical model that accounts for such an active control strategy and show that the model reproduces with high accuracy the kinematic features of human data during unconstrained reaching movements directed toward the head. The model consists of a nonlinear dynamical system with a single stable attractor at the target. Embodiment-related task constraints are expressed as a force field that acts on the dynamical system. Finally, we discuss the biological plausibility and neural correlates of the model's parameters and suggest that embodiment should be considered as a main cause for movement trajectory curvature.

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Quantitative examinations for human arm trajectory planning in three‐dimensional space

Yamanaka

Wada

Kawato

2003

Systems & Computers in Japan

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SUMMARYThe following two characteristics of point-to-point human arm movement on a plane have been well demonstrated: (1) The path is roughly a straight line but slightly curved. (2) The velocity profile is bell shaped with a single peak. Several models have been proposed to explain these features. Four criteria for trajectory planning based on optimal principles have been proposed: the minimum hand jerk criterion, the minimum angle jerk criterion, the minimum torque change criterion, and the minimum commanded torque change criterion. It has been shown that trajectories generated by the minimum commanded torque change model correspond well with measured trajectories in a horizontal and sagittal work space. However, it was very difficult to establish a robust method for obtaining an optimal trajectory based on the minimum commanded torque change criterion, because of the need to solve a nonlinear optimization problem. Recently, Wada and colleagues proposed a new method to stably calculate optimal trajectories based on the minimum commanded torque change criterion. The method can obtain trajectories satisfying the Euler-Poisson equations with sufficiently high accuracy. We show that optimal trajectories based on the minimum commanded torque change criterion in three-dimensional space can be calculated by applying the method. Finally, we show that the measured trajectory is closest to the minimum commanded torque change trajectory by statistical examination of many point-to-point trajectories in three-dimensional space.

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Quantitative examinations for multi joint arm trajectory planning—using a robust calculation algorithm of the minimum commanded torque change trajectory

Cited by 80 publications

References 9 publications

Posture-based or trajectory-based movement planning: a comparison of direct and indirect pointing movements

Posture-based or trajectory-based movement planning: a comparison of direct and indirect pointing movements

Movement curvature planning through force field internal models

Quantitative examinations for human arm trajectory planning in three‐dimensional space

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