In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

doi:10.1038/srep21758

Cited by 47 publications

(49 citation statements)

References 34 publications

(32 reference statements)

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“…Previous work (Balasubramanian et al, 2012 , 2015 ) has shown that, among several commonly used smoothness measures, only spectral arc length (SPARC) and log dimensionless jerk (LDLJ-V) possess these properties. Thus, SPARC and LDLJ-V have been used in multiple studies using data from different motion sensing technologies [e.g., image-based motion capture in Gulde and Hermsdörfer ( 2018 ), robotic devices in Colombo et al ( 2017 ), IMUs in Rihar et al ( 2014 ), or depth cameras in Abdi et al ( 2016 )]. In many cases, especially when movement velocity is not directly available, SPARC or LDLJ-V have been loosely adapted to other kinematic variables, e.g., acceleration from IMUs.…”

Section: Introductionmentioning

confidence: 99%

Estimating Movement Smoothness From Inertial Measurement Units

Shirota

Balasubramanian

2021

Front. Bioeng. Biotechnol.

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Inertial measurement units (IMUs) are increasingly used to estimate movement quality and quantity to the infer the nature of motor behavior. The current literature contains several attempts to estimate movement smoothness using data from IMUs, many of which assume that the translational and rotational kinematics measured by IMUs can be directly used with the smoothness measures spectral arc length (SPARC) and log dimensionless jerk (LDLJ-V). However, there has been no investigation of the validity of these approaches. In this paper, we systematically evaluate the use of these measures on the kinematics measured by IMUs. We show that: (a) SPARC and LDLJ-V are valid measures of smoothness only when used with velocity; (b) SPARC and LDLJ-V applied on translational velocity reconstructed from IMU is highly error prone due to drift caused by integration of reconstruction errors; (c) SPARC can be applied directly on rotational velocities measured by a gyroscope, but LDLJ-V can be error prone. For discrete translational movements, we propose a modified version of the LDLJ-V measure, which can be applied to acceleration data (LDLJ-A). We evaluate the performance of these measures using simulated and experimental data. We demonstrate that the accuracy of LDLJ-A depends on the time profile of IMU orientation reconstruction error. Finally, we provide recommendations for how to appropriately apply these measures in practice under different scenarios, and highlight various factors to be aware of when performing smoothness analysis using IMU data.

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Section: Introductionmentioning

confidence: 99%

Estimating Movement Smoothness From Inertial Measurement Units

Shirota

Balasubramanian

2021

Front. Bioeng. Biotechnol.

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“…Previous studies which have evaluated the ability for a single human subject to coordinate three hands together (trimanual activities) include 12 , who studied re-sizing, 13,14 who demonstrated the ability to control three hands with the natural limb and 15 who investigated the impact of adding a third hand to different bi-manual tasks of varying coupling level. From these studies it has been observed that human subjects can control three hands simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Human Performance in Three-hands Tasks

Noccaro

Eden

Pino

et al. 2021

Preprint

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The successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of morethan two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination witha partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: i) how does simultaneous control of three hands compare to a cooperating dyad; ii) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (mechanical constraints) or from cognitive limits (cognitive constraints). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of tasks core, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.

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“…When presented with three virtual falling objects, users preferred to use three virtual hands to catch the objects as compared to two virtual hands. However, no significant difference was found in success of catching the falling objects or in average effort during the tasks when comparing three virtual hands and two virtual hands [1].…”

Section: Introductionmentioning

confidence: 71%

Laying the Groundwork for Intra-Robotic-Natural Limb Coordination

Guggenheim

Parietti

Flash

et al. 2020

J. Hum.-Robot Interact.

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Supernumerary Robotic Limbs (SRLs) have been successfully applied in bracing and as an assistive technology for people with disabilities. These tasks only require perception internal to the SRL-human system. However, SRLs show promise in applications requiring external perception such as opening a door when one's hands are full. One path toward developing SRLs that accomplish these tasks is to use human-in-the-loop control, thus leveraging the human's superior perception system to help the SRLs. However, the effects on the user of controlling additional limbs are unclear. This article presents an experimental study where humans, wearing two single degree of freedom SRLs, were instructed to minimize the position error between the subject's natural and robotic limbs and the corresponding targets, one for each limb. First, subjects performed worse with their natural limbs when asked to perform the task with two natural and two robotic limbs as opposed to with just their natural limbs, suggesting that shared control could help. Second, subjects moved their natural limbs together followed by moving their SRLs together. This informs both the choice of control scheme for the SRLs and the division of labor within a task. Third, subjects showed significant concurrent use of the natural and robotic limbs. CCS Concepts: • Human-centered computing → User studies; • Computer systems organization → External interfaces for robotics;

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In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Cited by 47 publications

References 34 publications

Estimating Movement Smoothness From Inertial Measurement Units

Estimating Movement Smoothness From Inertial Measurement Units

Human Performance in Three-hands Tasks

Laying the Groundwork for Intra-Robotic-Natural Limb Coordination

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