Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms.

ABSTRACT: The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the "UCM reference feedback control." To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory

SUBMITTER: Togo S 

PROVIDER: S-EPMC4940408 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature