Abstract:The characterization of human upper limb kinematics is fundamental not only in neuroscience and clinical practice, but also for the planning of human-like robot motions in rehabilitation and assistive robotics. One promising approach to endow anthropomorphic robotic manipulators with human motion characteristics is to directly embed human upper limb principal motion modes at joint level, which are computed through functional analysis, in the robot trajectory optimization. This planning method poses some challe… Show more
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