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   PDF   HTML     4,602 Downloads   6,850 Views   Citations

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.

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P. Legreneur, T. Creveaux and V. Bels, "Control of Poly-Articular Chain Trajectory Using Temporal Sequence of Its Joints Displacements," Intelligent Control and Automation, Vol. 2 No. 1, 2011, pp. 38-46. doi: 10.4236/ica.2011.21005.

Conflicts of Interest

The authors declare no conflicts of interest.

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