Control of Poly-Articular Chain Trajectory Using Temporal Sequence of Its Joints Displacements

Pierre Legreneur, Thomas Creveaux, Vincent Bels

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DOI: 10.4236/ica.2011.21005                

Abstract

This paper discusses on the role of joint temporal sequence while moving a two-dimensional arm from an initial position to targets into the fingertip workspace in humans. For this purpose, we proposed a general monotonic model of joint asymmetric displacement. Optimization consisted in minimizing least square dis-placement of either fingertip or arm centre of mass from arm initial position to four targets located into fin-gertip workspace, i.e. contralaterally and ipsilaterally. Except for 60° ipsilateral target, results of the simula-tion presented in all cases temporal sequences of the shoulder, the elbow and the wrist. We concluded that primary function of proximal-to-distal or distal-to-proximal joint sequence is to flatten the trajectory of the fingertip or body centre of mass.

Keywords

Coordination, Modeling, Simulation, Sigmoid, Pointing, Jumping

Conflicts of Interest

The authors declare no conflicts of interest.

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