Okadome T, Honda M
NTT Basic Research Laboratories, Kanagawa, Japan.
Biol Cybern. 1999 Mar;80(3):157-69. doi: 10.1007/s004220050514.
A kinematic construction rule determining the trajectory of human sequential movements is formulated using minimum-jerk and minimum-angular-jerk trajectories. The kinematic construction rule states that the observed trajectory of sequential movements coincides with a weighted average of the minimum-jerk trajectory and the segmented minimum-angular-jerk trajectory. This rule covers not only point-to-point movements but also simple sequential movements. Five kinds of experiments that measure the trajectories in planar, multijoint sequential arm movements were conducted. The measured trajectories coincide with the predictions made on the basis of the kinematic construction rule presented here. Moreover, predictions of previous models such as the minimum-jerk, the equilibrium-trajectory, and the minimum-torque-change models are shown to be incompatible with our observations of sequential movements.
利用最小加加速度轨迹和最小角加加速度轨迹，制定了一种确定人类连续运动轨迹的运动学构建规则。该运动学构建规则表明，观察到的连续运动轨迹与最小加加速度轨迹和分段最小角加加速度轨迹的加权平均值一致。此规则不仅涵盖点对点运动，还包括简单的连续运动。进行了五种测量平面多关节连续手臂运动轨迹的实验。测量轨迹与基于此处提出的运动学构建规则所做的预测相符。此外，诸如最小加加速度、平衡轨迹和最小扭矩变化模型等先前模型的预测与我们对连续运动的观察结果不相符。
