control of poly-articular chain trajectory using temporal sequence of its joints displacementspoly-articular链轨迹的控制使用时间序列的关节位移.pdfVIP

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 1,2 2 1 Pierre Legreneur , Thomas Creveaux , Vincent Bels 1 Departement Ecologie et Gestion de la Biodiversité , Muséum National dHistoire Naturelle, Paris Cedex, France 2 Université de Lyon, Villeurbanne Cedex, France 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 sequen