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�������պ����ѧѧ�� 2010, Vol. 36 Issue (7) :826-829    DOI:
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Optimal trajectory formation and control of human arm point-to-point movement
Sun Pengwei, Wang Shimin, Wang Qi, Fang Jie*
School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Optimal human arm trajectory formation was investigated on the basis of physiological characteristics of skeletal muscles and dynamic properties of contracting muscles, and a minimal effort criterion prescribed by isometric muscle contraction was proposed. The dynamic properties of contracting muscles were discussed and the dynamics of human arm was modeled. The arm point-to-point movement problem was converted to an optimal control problem by using the proposed criterion. According to optimal control theory, the iterative algorithm used to obtain the optimal trajectory was designed. The control laws and the time history of human arm movement were found. The results of numerical simulation indicate that the proposed criterion for the prediction of optimal arm movement trajectories is effective.
Keywords�� muscle   physiological models   optimal control   arm movement   minimal effort criterion     
Received 2009-05-25;


About author: ����ΰ(1981-),��,ɽ��Ϋ����,��ʿ��,penvysun@163.com.
����ΰ, ��ʿ��, ����, ����.�����ֶ˵㵽���˶����Ż��켣���������[J]  �������պ����ѧѧ��, 2010,V36(7): 826-829
Sun Pengwei, Wang Shimin, Wang Qi, Fang Jie.Optimal trajectory formation and control of human arm point-to-point movement[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(7): 826-829
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