An analysis of reaching movements in manipulation of constrained dynamic objects

M. Svinin, T. Odashima, S. Ohno, Z. W. Luo, S. Hosoe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Constrained human movements are considered in this paper. The external constraints decrease the mobility of the human arm and lead to the redundancy in the distribution of the interaction force between the arm joints. To investigate the trajectory formation in the constrained human movements, we first develop a novel experimental system with interchangeable geometric constraints. Then, we examine the trajectory of human arm for an elliptic constraint. To clarify the trajectory formation in constrained point-to-point motions, we analyze experimental data and test them against predictions obtained by conventional criteria of optimality. It is found in the comparative analysis that the best prediction is given by the minimum muscle force change criterion.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1961-1967
Number of pages7
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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