ログイン
言語:

WEKO3

  • トップ
  • コミュニティ
  • ランキング
AND
To
lat lon distance
To

Field does not validate



インデックスリンク

インデックスツリー

メールアドレスを入力してください。

WEKO

One fine body…

WEKO

One fine body…

アイテム

{"_buckets": {"deposit": "00fbd68d-22a5-4c83-8bbf-a94eab9235e3"}, "_deposit": {"id": "21496", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21496"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021496"}, "item_10_alternative_title_19": {"attribute_name": "\u305d\u306e\u4ed6\u306e\u8a00\u8a9e\u306e\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_alternative_title": "Joint coordination of a multi-joint arm for target tracking task"}]}, "item_10_biblio_info_6": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2013-03-06", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "480", "bibliographicPageEnd": "178", "bibliographicPageStart": "173", "bibliographicVolumeNumber": "112", "bibliographic_titles": [{"bibliographic_title": "\u96fb\u5b50\u60c5\u5831\u901a\u4fe1\u5b66\u4f1a\u6280\u8853\u7814\u7a76\u5831\u544a. NC, \u30cb\u30e5\u30fc\u30ed\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0"}]}]}, "item_10_description_4": {"attribute_name": "\u6284\u9332", "attribute_value_mlt": [{"subitem_description": "\u672c\u7814\u7a76\u3067\u306f,\u4eba\u9593\u304c\u4e00\u6b21\u5143\u306e\u624b\u5148\u306e\u76ee\u6a19\u8ecc\u9053\u3092\u8ffd\u5f93\u3059\u308b,\u4e00\u6b21\u5143\u8ecc\u9053\u8ffd\u5f93\u30bf\u30b9\u30af\u3092\u884c\u3046\u52d5\u4f5c\u3092\u8a08\u6e2c\u3057,\u89e3\u6790\u3092\u884c\u3063\u305f.\u3053\u306e\u30bf\u30b9\u30af\u306b\u304a\u3044\u3066,\u8ffd\u5f93\u65b9\u5411\u3068\u76f4\u4ea4\u3059\u308b\u65b9\u5411\u306f\u30bf\u30b9\u30af\u306e\u9054\u6210\u3068\u306f\u95a2\u4fc2\u306e\u7121\u3044\u65b9\u5411\u3067\u3042\u308b.\u8a08\u6e2c\u7d50\u679c\u3068\u3057\u3066,\u7d42\u7aef\u59ff\u52e2\u306b\u304a\u3044\u3066\u88ab\u9a13\u8005\u306e\u624b\u5148\u306f\u30bf\u30b9\u30af\u9054\u6210\u3068\u95a2\u4fc2\u306e\u7121\u3044\u65b9\u5411\u306b\u5927\u304d\u304f\u3070\u3089\u3064\u3044\u305f.\u307e\u305f,\u63a5\u7dda\u901f\u5ea6\u306e\u6982\u5f62\u306f\u30d9\u30eb\u578b\u3067\u3042\u308a,\u5c0f\u3055\u306a\u30d4\u30fc\u30af\u304c\u591a\u304f\u542b\u307e\u308c\u3066\u3044\u305f.UCM\u89e3\u6790\u3092\u7528\u3044\u3066\u95a2\u7bc0\u9593\u5354\u8abf\u3092\u5b9a\u91cf\u7684\u306b\u8a55\u4fa1\u3057\u305f\u7d50\u679c,\u30bf\u30b9\u30af\u306e\u9054\u6210\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u306a\u3044\u3070\u3089\u3064\u304d\u304c\u6642\u9593\u3068\u5171\u306b\u5897\u52a0\u3057\u305f.\u3053\u308c\u3089\u306e\u904b\u52d5\u5b66\u7684\u306a\u7279\u5fb4\u3084\u95a2\u7bc0\u9593\u5354\u8abf\u306e\u7279\u5fb4\u306f,\u6211\u3005\u304c\u63d0\u6848\u3057\u305fUCM\u53c2\u7167\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u6cd5\u306b\u3088\u3063\u3066\u3088\u304f\u518d\u73fe\u3055\u308c\u305f.UCM\u53c2\u7167\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u6cd5\u306f,\u6642\u3005\u523b\u3005\u3068\u76ee\u6a19UCM\u7a7a\u9593\u3092\u751f\u6210\u3057,UCM\u7a7a\u9593\u4e0a\u304b\u3089\u6700\u9069\u306a\u4e00\u70b9\u3092\u9078\u3073\u7d9a\u3051\u308b\u5236\u5fa1\u65b9\u7b56\u3067\u3042\u308b.\u3053\u308c\u3089\u306e\u7d50\u679c\u306f,\u4eba\u9593\u306fUCM\u7a7a\u9593\u3092\u53c2\u7167\u3059\u308b\u3053\u3068\u306b\u3088\u3063\u3066,\u30bf\u30b9\u30af\u9054\u6210\u306b\u95a2\u4fc2\u306e\u7121\u3044\u3070\u3089\u3064\u304d\u3092\u8a31\u5bb9\u3057\u306a\u304c\u3089,\u591a\u95a2\u7bc0\u3092\u5354\u8abf\u7684\u306b\u5236\u5fa1\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u793a\u5506\u3057\u3066\u3044\u308b.\u307e\u305f,\u4eba\u9593\u306e\u8996\u899a\u904b\u52d5\u5236\u5fa1\u7cfb\u306b\u304a\u3044\u3066UCM\u7a7a\u9593\u306e\u795e\u7d4c\u8868\u73fe\u304c\u5b58\u5728\u3057\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u3053\u3068\u3092\u793a\u5506\u3057\u3066\u3044\u308b.In this paper, we measured and analyzed a one-dimensional target tracking task in which human subjects tracked one-dimensional target trajectory of the hand. In this task, the direction orthogonal to the movement direction is task-irrelevant. As a result, the hand position at the movement end was more varied in the task-irrelevant direction. Moreover, the profile of tangential hand velocity was roughly bell-shaped but they also had small peaks. Results of UCM analysis which is used to quantify the joint coordination showed that the task-irrelevant variance increased with time. These characteristics of kinematics and joint coordination were well reproduced by our UCM reference feedback control. UCM reference feedback control generates a target UCM space each time step and selects one point in UCM space. These results suggest that the human refers to UCM space step by step to control a multi-joint arm allowing the task-irrelevant variability. Moreover, it is suggested that the human would represent UCM space in visuomotor control system.", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "URI", "subitem_identifier_uri": "http://ci.nii.ac.jp/naid/110009713274/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23643"}]}, "item_10_publisher_32": {"attribute_name": "\u51fa\u7248\u8005", "attribute_value_mlt": [{"subitem_publisher": "\u4e00\u822c\u793e\u56e3\u6cd5\u4eba\u96fb\u5b50\u60c5\u5831\u901a\u4fe1\u5b66\u4f1a"}]}, "item_10_rights_12": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "(c)\u4e00\u822c\u793e\u56e3\u6cd5\u4eba\u96fb\u5b50\u60c5\u5831\u901a\u4fe1\u5b66\u4f1a \u672c\u6587\u30c7\u30fc\u30bf\u306f\u5b66\u5354\u4f1a\u306e\u8a31\u8afe\u306b\u57fa\u3065\u304dCiNii\u304b\u3089\u8907\u88fd\u3057\u305f\u3082\u306e\u3067\u3042\u308b"}]}, "item_10_select_15": {"attribute_name": "\u8457\u8005\u7248\u30d5\u30e9\u30b0", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_source_id_7": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "0913-5685", "subitem_source_identifier_type": "ISSN"}]}, "item_creator": {"attribute_name": "\u8457\u8005", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "\u6771\u90f7, \u4fca\u592a"}], "nameIdentifiers": [{"nameIdentifier": "62642", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "\u9999\u5ddd, \u9ad8\u5f18"}], "nameIdentifiers": [{"nameIdentifier": "62643", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "\u5b87\u91ce, \u6d0b\u4e8c"}], "nameIdentifiers": [{"nameIdentifier": "62644", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "TOGO, Shunta"}], "nameIdentifiers": [{"nameIdentifier": "62645", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "KAGAWA, Takahiro"}], "nameIdentifiers": [{"nameIdentifier": "62646", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "UNO, Yoji"}], "nameIdentifiers": [{"nameIdentifier": "62647", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "\u30d5\u30a1\u30a4\u30eb\u60c5\u5831", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2018-02-21"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "110009713274.pdf", "filesize": [{"value": "836.6 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 836600.0, "url": {"label": "110009713274.pdf", "url": "https://nagoya.repo.nii.ac.jp/record/21496/files/110009713274.pdf"}, "version_id": "91790b5c-e39f-4b71-aa70-dfa3aed0c381"}]}, "item_keyword": {"attribute_name": "\u30ad\u30fc\u30ef\u30fc\u30c9", "attribute_value_mlt": [{"subitem_subject": "\u95a2\u7bc0\u9593\u5354\u8abf", "subitem_subject_scheme": "Other"}, {"subitem_subject": "UCM\u89e3\u6790", "subitem_subject_scheme": "Other"}, {"subitem_subject": "\u30b7\u30ca\u30b8\u30fc", "subitem_subject_scheme": "Other"}, {"subitem_subject": "\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1", "subitem_subject_scheme": "Other"}, {"subitem_subject": "\u5197\u9577\u8155", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Joint coordination", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Uncontrolled manifold analysis", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Synergy", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Feedback control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Redundant arm", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "\u8a00\u8a9e", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "\u8cc7\u6e90\u30bf\u30a4\u30d7", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "\u8ecc\u9053\u8ffd\u5f93\u30bf\u30b9\u30af\u306b\u304a\u3051\u308b\u591a\u95a2\u7bc0\u8155\u306e\u5354\u8abf\u5236\u5fa1", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "\u8ecc\u9053\u8ffd\u5f93\u30bf\u30b9\u30af\u306b\u304a\u3051\u308b\u591a\u95a2\u7bc0\u8155\u306e\u5354\u8abf\u5236\u5fa1"}]}, "item_type_id": "10", "owner": "1", "path": ["320/321/322"], "permalink_uri": "http://hdl.handle.net/2237/23643", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "attribute_value": "2016-02-26"}, "publish_date": "2016-02-26", "publish_status": "0", "recid": "21496", "relation": {}, "relation_version_is_last": true, "title": ["\u8ecc\u9053\u8ffd\u5f93\u30bf\u30b9\u30af\u306b\u304a\u3051\u308b\u591a\u95a2\u7bc0\u8155\u306e\u5354\u8abf\u5236\u5fa1"], "weko_shared_id": null}
  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

軌道追従タスクにおける多関節腕の協調制御

http://hdl.handle.net/2237/23643
d1d41fb9-276e-41b3-87bb-aa85b7b44eb1
名前 / ファイル ライセンス アクション
110009713274.pdf 110009713274.pdf (836.6 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2016-02-26
タイトル
タイトル 軌道追従タスクにおける多関節腕の協調制御
その他のタイトル
その他のタイトル Joint coordination of a multi-joint arm for target tracking task
著者 東郷, 俊太

× 東郷, 俊太

WEKO 62642

東郷, 俊太

Search repository
香川, 高弘

× 香川, 高弘

WEKO 62643

香川, 高弘

Search repository
宇野, 洋二

× 宇野, 洋二

WEKO 62644

宇野, 洋二

Search repository
TOGO, Shunta

× TOGO, Shunta

WEKO 62645

TOGO, Shunta

Search repository
KAGAWA, Takahiro

× KAGAWA, Takahiro

WEKO 62646

KAGAWA, Takahiro

Search repository
UNO, Yoji

× UNO, Yoji

WEKO 62647

UNO, Yoji

Search repository
権利
権利情報 (c)一般社団法人電子情報通信学会 本文データは学協会の許諾に基づきCiNiiから複製したものである
キーワード
主題Scheme Other
主題 関節間協調
キーワード
主題Scheme Other
主題 UCM解析
キーワード
主題Scheme Other
主題 シナジー
キーワード
主題Scheme Other
主題 フィードバック制御
キーワード
主題Scheme Other
主題 冗長腕
キーワード
主題Scheme Other
主題 Joint coordination
キーワード
主題Scheme Other
主題 Uncontrolled manifold analysis
キーワード
主題Scheme Other
主題 Synergy
キーワード
主題Scheme Other
主題 Feedback control
キーワード
主題Scheme Other
主題 Redundant arm
抄録
内容記述 本研究では,人間が一次元の手先の目標軌道を追従する,一次元軌道追従タスクを行う動作を計測し,解析を行った.このタスクにおいて,追従方向と直交する方向はタスクの達成とは関係の無い方向である.計測結果として,終端姿勢において被験者の手先はタスク達成と関係の無い方向に大きくばらついた.また,接線速度の概形はベル型であり,小さなピークが多く含まれていた.UCM解析を用いて関節間協調を定量的に評価した結果,タスクの達成に影響を与えないばらつきが時間と共に増加した.これらの運動学的な特徴や関節間協調の特徴は,我々が提案したUCM参照フィードバック制御法によってよく再現された.UCM参照フィードバック制御法は,時々刻々と目標UCM空間を生成し,UCM空間上から最適な一点を選び続ける制御方策である.これらの結果は,人間はUCM空間を参照することによって,タスク達成に関係の無いばらつきを許容しながら,多関節を協調的に制御していることを示唆している.また,人間の視覚運動制御系においてUCM空間の神経表現が存在している可能性があることを示唆している.In this paper, we measured and analyzed a one-dimensional target tracking task in which human subjects tracked one-dimensional target trajectory of the hand. In this task, the direction orthogonal to the movement direction is task-irrelevant. As a result, the hand position at the movement end was more varied in the task-irrelevant direction. Moreover, the profile of tangential hand velocity was roughly bell-shaped but they also had small peaks. Results of UCM analysis which is used to quantify the joint coordination showed that the task-irrelevant variance increased with time. These characteristics of kinematics and joint coordination were well reproduced by our UCM reference feedback control. UCM reference feedback control generates a target UCM space each time step and selects one point in UCM space. These results suggest that the human refers to UCM space step by step to control a multi-joint arm allowing the task-irrelevant variability. Moreover, it is suggested that the human would represent UCM space in visuomotor control system.
内容記述タイプ Abstract
出版者
出版者 一般社団法人電子情報通信学会
言語
言語 jpn
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
ISSN
収録物識別子タイプ ISSN
収録物識別子 0913-5685
書誌情報 電子情報通信学会技術研究報告. NC, ニューロコンピューティング

巻 112, 号 480, p. 173-178, 発行日 2013-03-06
著者版フラグ
値 publisher
URI
識別子 http://ci.nii.ac.jp/naid/110009713274/
識別子タイプ URI
URI
識別子 http://hdl.handle.net/2237/23643
識別子タイプ HDL
戻る
0
views
See details
Views

Versions

Ver.1 2021-03-01 15:21:14.041484
Show All versions

Share

Mendeley CiteULike Twitter Facebook Print Addthis

Cite as

Export

OAI-PMH
  • OAI-PMH JPCOAR
  • OAI-PMH DublinCore
  • OAI-PMH DDI
Other Formats
  • JSON
  • BIBTEX

Confirm


Powered by CERN Data Centre & Invenio


Powered by CERN Data Centre & Invenio