An Analysis of Hierarchical Coordination for Human Balance Motions

Kaho TAKEUCHI  Takahiro KAGAWA  Yoji UNO  

Publication
D - Abstracts of IEICE TRANSACTIONS on Information and Systems (Japanese Edition)   Vol.J99-D   No.2   pp.214-223
Publication Date: 2016/02/01
Online ISSN: 1881-0225
Type of Manuscript: PAPER
Category: 
Keyword: 
UCM analysis,  joint coordination,  hierarchy,  posture control,  synergy,  

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Summary: 
We examine what kind of coordination appears in human balance motions. In the previous studies, the uncontrolled manifold (UCM) analysis was used to evaluate motor coordination by comparing UCM component and ORT component of a joint angle variance; a performance variable in a motion task is not affected by UCM but is affected by ORT. In this study, we introduce inter-level variables and propose a formulation of hierarchical coordination. Applying the proposed formulation to human reactive motions for disturbance and reaching movements to a target, we found the different kind of coordination between the two motion tasks.