Analysis of spatially constrained reaching movements in haptic environments

Igor Goncharenko, Mikhail Mikhailovich Svinin, Yutaka Kanou, Shigeyuki Hosoe

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

Abstract

A distributed system with interchangeable constraints for studying skillful human movements via haptic displays is presented. A unified interface provides easy linking of various physical models with 2D and 3D static spatial constraints, and the graphical contents related to the models as well. The motion analysis is based on the data recorded by system's History Unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles are compared for several cases of basic reaching rest-to-rest tasks: curve-constrained motions with different curvatures, flexible object control, and cooperative two-arm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.

Original languageEnglish
Title of host publication14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
Pages399-405
Number of pages7
Volume2006
Publication statusPublished - Nov 17 2006
Event14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006 - Alexandria, VA, United States
Duration: Mar 25 2006Mar 26 2006

Other

Other14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006
CountryUnited States
CityAlexandria, VA
Period3/25/063/26/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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