Abstract:Abstract-This study investigates natural single-arm interaction with kinematic constraints. Smooth, frictionless, kinematic constraints reduce the degrees-of-freedom of motion at the hand, but add force freedoms. These force freedoms allow the hand to push and pull against the constraints with no effect on the task. Understanding how subjects take advantage of kinematic constraints will be useful in designing constraint surfaces for assisted manipulation.This paper reports the results of an experiment studying… Show more
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