Kinematic analysis and synthesis of the human arm motion during a manipulation task

Zanchettin, Andrea Maria; Rocco, Paolo; Bascetta, Luca; Symeonidis, Ioannis; Peldschus, Steffen

doi:10.1109/icra.2011.5979654

Cited by 36 publications

(26 citation statements)

References 10 publications

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“…The constraints based methods add some additional constraints to¯nd the unique inverse kinematic solution. The constraints include elbow height obtained by fuzzy approach, 18 elbow elevation angle obtained by regression analysis 19,20 and the relationship of some special angles of human arm borrowed from neurophysiology. 21 Criteria based methods generate human-like movement through optimizing the di®erent criteria, such as manipulability index, 22 energetic criterion including gravitation potential and kinetic energies of the arm, 23 the rapid upper limb assessment criterion in ergonomics, 11 the dependencies among the human joint angles 24 and the criterion considering both the kinematics and dynamics.…”

Section: Human-like Motion Planningmentioning

confidence: 99%

Handing Over Objects to Human in a Friendly and Comfortable Manner

Xie

Zhao

2015

Int. J. Human. Robot.

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In this paper, a robotic motion planning scheme is proposed to generate hand-over motions in a friendly and comfortable manner. Two sub-problems are studied: The determination of the¯nal target position (where the robot should hand over the object to) and the generation of humanlike motion in the hand-over process (how the robot should hand over the object to the position). First, experiments of di®erent subjects are conducted to explore the common characteristics in the optimal hand-over positions. The result shows that their joint angles are similar at the optimal hand-over position. Therefore, the optimal hand-over position can be determined by forward kinematics based on the measured average joint angles. Then, two methods are proposed to plan the human-like hand-over motions in an obstacle-free environment and in an obstacle-present environment, respectively. A series of experimental comparisons is conducted to prove the validity of the methods. A robotic arm is controlled to hand over a cube to humans in human-like way and nonhuman-like way. The subjects are asked to grade the hand-over motion of the robotic arm on a scale of 1 to 5. The results show that the hand-over motions planned by the methods proposed in this paper can make people feel safer and more comfortable.

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Section: Human-like Motion Planningmentioning

confidence: 99%

Handing Over Objects to Human in a Friendly and Comfortable Manner

Xie

Zhao

2015

Int. J. Human. Robot.

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“…B), which lead to the generation of corresponding configurations. Inspired by similar observations, the problem of redundancy resolution has been extensively addressed in the field of robotics by establishing task-related artificial potential fields [2], [3], [4], while, only few studies have drawn attention to the acquired human-like natural motion [5], [1], [6]. With the advent of higher demands on dual-arm manipulation, interaction with the environment using impedance control [7] became the focus of many studies in dual-arm systems.…”

Section: Introductionmentioning

confidence: 99%

Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control

Ajoudani

Tsagarakis

Lee

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Incorporation of human motor control principles in the motion control architectures for humanoid robots or assistive and prosthesis devices will permit these systems not only to look anthropomorphic and natural at the body ware level but also to generate natural motion profiles resembling those executed by humans during manipulation and locomotion. In this work, relying on the observations on human bimanual coordination, a novel realtime motion control strategy is proposed to regulate the desired Cartesian stiffness profile during the execution of bimanual tasks. The novelty of the proposed control scheme relies on the use of common mode stiffness (CMS) and configuration dependent stiffness (CDS) to regulate the size and directionality of the task space stiffness ellipsoid. Thanks to the CDS control, the proposed scheme is not only proved to be effective in regulating the desired stiffness ellipsoid but also permits to resolve the manipulator redundancy in a natural manner. The effectiveness of the controller is evaluated in an experimental setup in which two cooperating robotic arms are executing an assembly task. Experimental results demonstrate that the proposed dual-arm CDS-CMS controller is effective in tracking the desired stiffness ellipsoids as well as in producing human-like natural motions for the two robotic arms.

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“…Some other research groups adopted experimental identification methods to model the arm posture selection. Zanchettin et al, [7] synthesized object manipulation motions by applying clustering and multivariate correlation statistics on experimental results to identify the model with least squares algorithm. Kim et al, [8] approximated captured human motions by response surface method to control a biomimetic motion of a humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

An experimental study on redundancy resolution scheme of postural configuration in human arm reaching with an elbow joint kinematic constraint

Moon

Robson

Langari

et al. 2014

2nd Middle East Conference on Biomedical Engineering

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This paper studies the redundancy resolution strategy of the central nervous system (CNS) in selecting an arm posture during reaching motions. Based on the assumption that such governing rules are preserved against any joint constraint condition, an elbow joint DOF was fixed during the experiments with a light weight elbow brace. Two different coordinate systems are defined to interpret kinematics and dynamics of motion in a task-oriented space and an internal body space. The kinematic and dynamic contributions of the internal body frame on the task frame, is quantified by mappings. The experimental results show that the core principle of the CNS to determine the arm posture is to minimize the kinetic energy cost.

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Kinematic analysis and synthesis of the human arm motion during a manipulation task

Cited by 36 publications

References 10 publications

Handing Over Objects to Human in a Friendly and Comfortable Manner

Handing Over Objects to Human in a Friendly and Comfortable Manner

Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control

An experimental study on redundancy resolution scheme of postural configuration in human arm reaching with an elbow joint kinematic constraint

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