Control of biomimetic robots based on analysis of human arm trajectories in 3D movements

Kashima, Tadashi; Hori, Katsuhiro

doi:10.1007/s10015-015-0244-7

Cited by 9 publications

(5 citation statements)

References 11 publications

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“…Similar to Liarokapis, their method required a hand trajectory. Kashima and Hori [90] explored how to create this trajectory and motion by applying a minimum angular jerk criterion. As a result of the optimization of the joint angles in the created path, it should be noted that the minimum jerk is one of the earliest criteria to create human-like trajectories, and it can be used in simple movements as well.…”

Section: Constrained Optimizationmentioning

confidence: 99%

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Trivedi

Menychtas

Alqasemi

et al. 2023

Sensors

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In recent years, numerous studies have been conducted to analyze how humans subconsciously optimize various performance criteria while performing a particular task, which has led to the development of robots that are capable of performing tasks with a similar level of efficiency as humans. The complexity of the human body has led researchers to create a framework for robot motion planning to recreate those motions in robotic systems using various redundancy resolution methods. This study conducts a thorough analysis of the relevant literature to provide a detailed exploration of the different redundancy resolution methodologies used in motion generation for mimicking human motion. The studies are investigated and categorized according to the study methodology and various redundancy resolution methods. An examination of the literature revealed a strong trend toward formulating intrinsic strategies that govern human movement through machine learning and artificial intelligence. Subsequently, the paper critically evaluates the existing approaches and highlights their limitations. It also identifies the potential research areas that hold promise for future investigations.

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Section: Constrained Optimizationmentioning

confidence: 99%

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Trivedi

Menychtas

Alqasemi

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…A technique for time adjustment of the end-effector velocity was presented by Kashima and Hori [53]. Taking inspiration from observations of delays in human arm motion between the elbow and the shoulder, the authors proposed a modified minimum angular jerk principle for the optimal selection of this delay.…”

Section: Kinematic Assessment Of the End-effector Trajectorymentioning

confidence: 99%

Human-Like Arm Motion Generation: A Review

2020

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In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analyzed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.

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“…Acting on stiffness, different end-effector velocity peaks can be produced, while the shape of the end-effector path remains invariant. A technique for time adjustment of the end-effector velocity was presented by Kashima and Hori [51]. Taking inspiration from observations of delays in human arm motion between the elbow and the shoulder, the authors proposed a modified minimum angular jerk principle for the optimal selection of this delay.…”

Section: Kinematic Assessment Of the End-effector Trajectorymentioning

confidence: 99%

Human-Like Arm Motion Generation: A Review

Gulletta¹,

Erlhagen²,

Bicho³

2020

Preprint

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In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analysed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioural and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.

show abstract

Control of biomimetic robots based on analysis of human arm trajectories in 3D movements

Cited by 9 publications

References 11 publications

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Human-Like Arm Motion Generation: A Review

Human-Like Arm Motion Generation: A Review

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