{"_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. 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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. 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