Control of Poly-Articular Chain Trajectory Using Temporal Sequence of Its Joints Displacements英文文献资料.docVIP

Intelligent Control and Automation, 2011, 2, 38-46 doi:10.4236/ica.2011.21005 Published Online February 2011 (http://www.SciRP.org/journal/ica) Control of Poly-Articular Chain Trajectory Using Temporal Sequence of Its Joints Displacements Pierre Legreneur , Thomas Creveaux , Vincent Bels 1,2 2 1 1 Departement Ecologie et Gestion de la Biodiversité, Muséum National dHistoire Naturelle, Paris Cedex, France Université de Lyon, Villeurbanne Cedex, France 2 E-mail: pierre.legreneur@univ-lyon1.fr, thomas.creveaux@, bels@mnhn.fr Received November 9, 2010; revised December 9, 2010; accepted December 20, 2010 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 1. Introduction order to protect this joint from any damage. The proxi- mal-to-distal sequence allows to delay the negative in- fluence of the anatomical and geometrical constraints in explosive movements [14]. This sequence contributes to produce, transfer and orientate mechanical power, from Explosive movements like leaping or jumping are char- acterized by production of maximal external