Human arm redundancy: a new approach for the inverse kinematics problem
Avi Barliya,
Nili Krausz,
Hila Naaman
et al.
Abstract:The inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human movements, enabling the motor system to solve the IK problem in the presence of kinematic redundancies. We used a multi-dimensional sparse source separation method to derive sets of basis (or source) functions for bot… Show more
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