理学療法ジャーナル57巻5号

2023年05月発行

特集 関節間トレードオフ

Uncontrolled manifold（UCM）概論

著者： 浅賀忠義¹

所属機関： ¹北海道大学

ページ範囲：P.515 - P.520

Point

●制御システムにおける冗長性とは，最終的に制御したい変数（目的変数）の数よりも，直接制御できる変数（要素変数）または自由度の数のほうが多いという状態を意味する

●繰り返し運動の場合，要素変数間の組み合わせを協調的に変化させることによって，目的変数のばらつき（変動性）を減少させることができる

●要素変数間の協調性の定量化は，各要素変数の値の組み合わせにおいて，目的を達成するうえで影響を及ぼさない成分の分散とエラー値に直結する成分，つまり，その直行成分の分散との相対差によって算出される

参考文献

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