Hitting great golf shots requires, in coaching terms, exquisite “timing” Despite this criterion, few people have tried to quantify this phenomenon and distinguish between well-timed (WT) and mistimed (MT) shots. The purpose of this paper was to present a way of describing the timing in the golf downswing and investigate whether biomechanical variables could be used to evaluate the sequencing of movement during the swing. Three-dimensional kinematics for a five segment model of the body and shot distance and lateral error were collected as highly skilled players hit approximately 20 driver shots. Players rated each shot as being WT or MT. A method of describing sequencing was presented and average values for the body segment speeds were presented. Comparisons of the timing lags (i.e., the times between peak angular speeds of contiguous body segments) showed no significant differences between the WT and MT shots. It seems as though golfers are much more sensitive to the “centredness” of contact than they are to subtle differences in the timing of peak body segment speeds.
In this paper we introduce a comprehensive framework to control an aerial manipulator, i.e., an aerial vehicle with a robotic arm, in physical interaction with a human operator or co-worker. The framework uses an admittance control paradigm in order to attain human ergonomy and safety; an interaction supervisor to automatically shape the compliance based on the interaction regions defined around the human co-worker; a projected gradient redundancy resolution scheme to exploit the multiple degrees of freedom of the aerial robot to accommodate for possible additional secondary tasks; and a quadratic programming optimization-based inner loop to cope with real world input saturation and increase the safety level of the human co-worker. The control framework is demonstrated and validated through numerical simulations with a human-in-the loop.
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