Review of Models for the Generation of Multi-Joint Movements in 3-D

Gielen, Stan

doi:10.1007/978-0-387-77064-2_28

Cited by 26 publications

(18 citation statements)

References 113 publications

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“…In some cases, speed-curvature power law was found, but with different exponential coefficients. This was the case in a study of speech production [56] and in studies of unconstrained 3-D movements that are characterized by coefficients that are different from 1/3 [54], [57], [58].…”

Section: Introductionmentioning

confidence: 95%

Improved Active Handrest Performance Through Use of Virtual Fixtures

Fehlberg

Nisky

Doxon

et al. 2014

IEEE Trans. Human-Mach. Syst.

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The Active Handrest is a large workspace assistive robotic device that has been shown to significantly improve the user performance of various movement tasks. This device has the potential to assist highly accurate motions without the need for a robotically enabled or comanipulated tool while allowing the user to retain complete control over a grasped tool. This paper evaluates the Active Handrest's effect on the kinematics of user movements together with various virtual fixture control strategies to further improve the human performance while using the Active Handrest. The most effective fixture strategy for tracing straight lines is first determined. Then, this fixture strategy is directly implemented on the Active Handrest's motions. Finally, the performance of different fixture strategies is assessed through speed-accuracy tradeoff and movement kinematics. It is concluded that fixtures implemented on the Active Handrest are as effective as those implemented on a grasped tool, which enables users of the Active Handrest high accuracy with ordinary tools such as a scalpel or paint brush. The performance is further improved when fixtures are implemented on both the Active Handrest and the grasped tool.

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Section: Introductionmentioning

confidence: 95%

Improved Active Handrest Performance Through Use of Virtual Fixtures

Fehlberg

Nisky

Doxon

et al. 2014

IEEE Trans. Human-Mach. Syst.

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“…The only model that could explain both kinematic and kinetic aspects of the reach strategies, and their speed/load dependences, was the composite optimality criterion mixing variables of different nature. This composite cost idea was already advanced and investigated differently in previous studies212223.…”

Section: Discussionmentioning

confidence: 99%

“…Alternatively, if IT is compensated, such modifications should have non-significant effect on the arm trajectories, except that the MTs should be adjusted to cancel the larger ITs. Third, we aimed at accounting for the empirical pointing strategies via inverse optimal control with composite cost functions212223. Optimal control theory is an appealing framework to apprehend human motion as it points out possible high-level principles underlying arm movement formation in a concise and normative way242526.…”

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confidence: 99%

Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

Isableu

Berret

2016

Sci Rep

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The study aimed at investigating the extent to which the brain adaptively exploits or compensates interaction torque (IT) during movement control in various velocity and load conditions. Participants performed arm pointing movements toward a horizontal plane without a prescribed reach endpoint at slow, neutral and rapid speeds and with/without load attached to the forearm. Experimental results indicated that IT overall contributed to net torque (NT) to assist the movement, and that such contribution increased with limb inertia and instructed speed and led to hand trajectory variations. We interpreted these results within the (inverse) optimal control framework, assuming that the empirical arm trajectories derive from the minimization of a certain, possibly composite, cost function. Results indicated that mixing kinematic, energetic and dynamic costs was necessary to replicate the participants’ adaptive behavior at both kinematic and dynamic levels. Furthermore, the larger contribution of IT to NT was associated with an overall decrease of the kinematic cost contribution and an increase of its dynamic/energetic counterparts. Altogether, these results suggest that the adaptive use of IT might be tightly linked to the optimization of a composite cost which implicitly favors more the kinematic or kinetic aspects of movement depending on load and speed.

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“…To solve for θ 5 and θ 6 , Eq. 7 is premultiplied by (T 1 T 2 T 3 T 4 ) −1 and postmultiplied by g −1 st P 7 , where…”

Section: Decomposition Of the Forward Kinematicsmentioning

confidence: 99%

“…Earlier work to reveal the redundancy resolution of the human arm focused on posture-based motion control strategies [6,7] based on Donders' law, which was originally proposed for eye movements. Most of the early work resolved the redundancy at the kinematic level by focusing on the desired hand posture under the kinematic constraint at a target location.…”

Section: Introductionmentioning

confidence: 99%

Predicting Redundancy of a 7 DOF Upper Limb Exoskeleton Toward Improved Transparency between Human and Robot

Kim

Rosén

2015

J Intell Robot Syst

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For a wearable robotic system which includes the same redundancy as the human arm, configuring the joint angles of the robotic arm in accordance with those of the operators arm is one of the crucial control mechanisms to minimize the energy exchange between human and robot. Thus it is important to understand the redundancy resolution mechanism of the human arm such that the inverse kinematics solution of these two coupled systems becomes identical. In this paper, the redundancy resolution of the human arm based on the wrist position and orientation is provided as a closed form solution for the practical robot control algorithm, which enables the robot to form the natural human arm configuration as the operator changes the position and orientation of the end effector. For this, the redundancy of the arm is expressed mathematically by defining the swivel angle. Then the swivel angle is expressed as a superposition of two components, which are reference swivel angle and the swivel angle offset, respectively. The reference swivel angle based on the wrist position is defined by the kinematic criterion that maximizes the manipulability along the vector connecting the wrist and the virtual target point on the head region as a cluster of important sensory organs. Then the wrist orientation change is mapped into a joint angle availablility function output and translated to the swivel angle offset with respect to the reference swivel angle. Based on the inverse kinematic formula the controller can transform the position and orientation of the endeffector into the joint torque which enables the robot to follow up the operator's current joint configuration. The estimation performance was evaluated by utilizing a motion capture system and the results show that there is a high correlation between the estimated and calculated swivel angles.

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Review of Models for the Generation of Multi-Joint Movements in 3-D

Cited by 26 publications

References 113 publications

Improved Active Handrest Performance Through Use of Virtual Fixtures

Improved Active Handrest Performance Through Use of Virtual Fixtures

Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

Predicting Redundancy of a 7 DOF Upper Limb Exoskeleton Toward Improved Transparency between Human and Robot

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