Autonomous Control of Reaching Movement by ‘Mobility’ Measure

Yuki Yoshihara; Nozomi Tomita; Yoshinari Makino; Masafumi Yano

doi:10.20965/jrm.2007.p0448

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JRM Vol.19 No.4 pp. 448-458

doi: 10.20965/jrm.2007.p0448

(2007)

Paper:

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Autonomous Control of Reaching Movement by ‘Mobility’ Measure

Yuki Yoshihara, Nozomi Tomita, Yoshinari Makino,
and Masafumi Yano

Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan

Received:

January 11, 2007

Accepted:

April 12, 2007

Published:

August 20, 2007

Keywords:

human reaching movement, redundant manipulator, real-time adaptation, mobility, arm dynamics

Abstract

Humans achieve reaching movements even when environmental conditions change unexpectedly, and because the human arm is redundant, a controller must incorporate constraints, and these constraints should adapt to changes in environmental conditions. In this paper, we propose new constraints that emerge in real-time from the sensory information acquired by the system during movement. In our model, the constraints needed to determine the control commands for each joint are implemented as autonomously decentralized interactions among the joints, based on a ‘mobility’ measure that evaluates instantaneous dynamic and kinematic properties of each joint. Simulated results indicate that these interactions can yield suitable motor commands in real-time, in such a way that the more mobile joints work dominantly and the less mobile joints work cooperatively, even when dynamic and kinematic perturbations are applied to the system during movement. The proposed constraints are thus adaptive to environmental and dynamic changes, and our controller is capable of functioning in the real world.

Cite this article as:

Y. Yoshihara, N. Tomita, Y. Makino, and M. Yano, “Autonomous Control of Reaching Movement by ‘Mobility’ Measure,” J. Robot. Mechatron., Vol.19 No.4, pp. 448-458, 2007.

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References

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[2] R. A. Scheidt and W. Z. Rymer, “Control Strategies for the Transition From Multijoint to Single-Joint Arm Movements Studied Using a Simple Mechanical Constraint,” Journal of Neurophysiology, Vol.83, No.1, pp. 1-12, 2000.
[3] C. D. Takahashi, D. Nemet, C. M. Rose-Gottron, J. K. Larson, D. M. Cooper, and D. Reinkensmeyer, “Effect of muscle fatigue on internal model formation and retention during reaching with the arm,” Journal of Applied Physiology, Vol.100, No.2, pp. 695-706, 2006.
[4] D. W. Franklin, R. Osu, E. Burdet, M. Kawato, and T. E. Milner, “Adaptation to Stable and Unstable Dynamics Achieved By Combined Impedance Control and Inverse Dynamics Model,” Journal of Neurophysiology, Vol.90, No.5, pp. 3270-3282, 2003.
[5] T. Flash and N. Hogan, “The coordination of arm movements: an experimentally confirmed mathematical model,” Journal of Neuroscience, Vol.5, No.7, pp. 1688-1703, 1985.
[6] Y. Uno, M. Kawato, and R. Suzuki, “Formation and control of optimal trajectory in human multijoint arm movement,” Biological Cybernetics, Vol.61, No.2, pp. 89-101, 1989.
[7] E. Bizzi, A. Polit, and P. Morasso, “Mechanisms underlying achievement of final head position,” Journal of Neurophysiology, Vol.39, No.2, pp. 435-444, 1976.
[8] S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa, “Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein’s degrees-of-freedom problem,” Advanced Robotics, Vol.19, No.4, pp. 401-434, 2005.
[9] J. J. Craig, “Introduction to Robotics: Mechanics and Control,” Addison-Wesley Longman Publishing Co., Inc. Boston, MA, USA, 1989.
[10] Y. Uno and M. Kawato, “Dynamic performance indices for trajectory formation in human arm movements,” Technical report, IEICE Technical Report, NC 94-28, 1994.
[11] H. Hanafusa, T. Yoshikawa, and Y. Nakamura, “Analysis and control of articulated robot arms with redundancy,” Proceedings of the 8th IFAC, Vol.14, pp. 38-83, 1981.
[12] Y. Nakamura and H. Hanafusa, “Inverse kinematic solutions with singularity robustness for robot manipulator control,” ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control, Vol.108, pp. 163-171, 1986.
[13] S. R. Goodman and G. L. Gottlieb, “Analysis of kinematic invariances of multijoint reaching movement,” Biological Cybernetics, Vol.73, No.4, pp. 311-322, 1995.
[14] Y. Yoshihara, N. Tomita, T. Asano, Y. Makino, and M. Yano, “Control of reaching movement in unpredictably changing environment by constraints emergence and satisfaction,” Proceedings of SICEICCAS 2006, pp. 5067-5072, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H. Cruse, E. Wischmeyer, M. Brüwer, P. Brockfeld, and A. Dress, “On the cost functions for the control of the human arm movement,” Biological Cybernetics, Vol.62, No.6, pp. 519-528, 1990.

[2] [2] R. A. Scheidt and W. Z. Rymer, “Control Strategies for the Transition From Multijoint to Single-Joint Arm Movements Studied Using a Simple Mechanical Constraint,” Journal of Neurophysiology, Vol.83, No.1, pp. 1-12, 2000.

[3] [3] C. D. Takahashi, D. Nemet, C. M. Rose-Gottron, J. K. Larson, D. M. Cooper, and D. Reinkensmeyer, “Effect of muscle fatigue on internal model formation and retention during reaching with the arm,” Journal of Applied Physiology, Vol.100, No.2, pp. 695-706, 2006.

[4] [4] D. W. Franklin, R. Osu, E. Burdet, M. Kawato, and T. E. Milner, “Adaptation to Stable and Unstable Dynamics Achieved By Combined Impedance Control and Inverse Dynamics Model,” Journal of Neurophysiology, Vol.90, No.5, pp. 3270-3282, 2003.

[5] [5] T. Flash and N. Hogan, “The coordination of arm movements: an experimentally confirmed mathematical model,” Journal of Neuroscience, Vol.5, No.7, pp. 1688-1703, 1985.

[6] [6] Y. Uno, M. Kawato, and R. Suzuki, “Formation and control of optimal trajectory in human multijoint arm movement,” Biological Cybernetics, Vol.61, No.2, pp. 89-101, 1989.

[7] [7] E. Bizzi, A. Polit, and P. Morasso, “Mechanisms underlying achievement of final head position,” Journal of Neurophysiology, Vol.39, No.2, pp. 435-444, 1976.

[8] [8] S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa, “Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein’s degrees-of-freedom problem,” Advanced Robotics, Vol.19, No.4, pp. 401-434, 2005.

[9] [9] J. J. Craig, “Introduction to Robotics: Mechanics and Control,” Addison-Wesley Longman Publishing Co., Inc. Boston, MA, USA, 1989.

[10] [10] Y. Uno and M. Kawato, “Dynamic performance indices for trajectory formation in human arm movements,” Technical report, IEICE Technical Report, NC 94-28, 1994.

[11] [11] H. Hanafusa, T. Yoshikawa, and Y. Nakamura, “Analysis and control of articulated robot arms with redundancy,” Proceedings of the 8th IFAC, Vol.14, pp. 38-83, 1981.

[12] [12] Y. Nakamura and H. Hanafusa, “Inverse kinematic solutions with singularity robustness for robot manipulator control,” ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control, Vol.108, pp. 163-171, 1986.

[13] [13] S. R. Goodman and G. L. Gottlieb, “Analysis of kinematic invariances of multijoint reaching movement,” Biological Cybernetics, Vol.73, No.4, pp. 311-322, 1995.

[14] [14] Y. Yoshihara, N. Tomita, T. Asano, Y. Makino, and M. Yano, “Control of reaching movement in unpredictably changing environment by constraints emergence and satisfaction,” Proceedings of SICEICCAS 2006, pp. 5067-5072, 2006.

Autonomous Control of Reaching Movement by ‘Mobility’ Measure

Yuki Yoshihara, Nozomi Tomita, Yoshinari Makino, and Masafumi Yano

Yuki Yoshihara, Nozomi Tomita, Yoshinari Makino,
and Masafumi Yano