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Nakano, E., Imamizu, H., Osu, R., Uno, Y., Gimi, H., Yoshioka, T. and Kawato, M. (1999) Quantitative Examinations of Internal Representations for Arm Trajectory Planning: Minimum Commanded Torque Change Model. The Journal of Neurophysiology, 81, 2140-2155.

has been cited by the following article:

• TITLE: Temporal Optimality of a Via-Posture on Trajectory during Sit-to-Stand and Back-to-Sit Movements

  AUTHORS: Hiroshi R. Yamasaki, Urara Nakamura, Hiroshi Nagasaki

  KEYWORDS: Temporal Optimality, Via-Posture, Trajectory, Sit-to-Stand, Back-to-Sit

  JOURNAL NAME: Journal of Biomedical Science and Engineering, Vol.7 No.7, June 6, 2014

  ABSTRACT: The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. The positions of bony landmarks on the subjects during the tasks were recorded using a Vicon motion analysis system to yield the angular displacement and position of the center of mass (COM) of a three-link rigid body model in the sagittal plane. Minimum angle-jerk and minimum jerk trajectories with a via-point were computed for joint angle and COM, respectively. Five to six candidate points were selected as the via-point from the measured trajectory based on the separate kinematic events. The results show the optimal angular trajectories using the via-points (via-angles) before the seat-off for STS, and at around the seat-contact for BTS resembles the measured angular trajectories well, indicating that the posture at the via-point was temporally optimal to produce the minimum angle-jerk trajectory for both movements. It is hypothesized that the multi-joint angular patterns during STS and BTS movements were organized to pass through the via-point, namely the via-posture along the minimum angle-jerk trajectory.