Analysis of spatially constrained reaching movements in haptic environments

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

doi:10.1109/VR.2006.26

Analysis of spatially constrained reaching movements in haptic environments

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

Faculty of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 twoarm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.

Original language	English
Title of host publication	IEEE Virtual Reality, Haptics Symposium and Symposium on 3D User Interface, 2006
Number of pages	1
Volume	2006
DOIs	https://doi.org/10.1109/VR.2006.26
Publication status	Published - Oct 24 2006
Event	IEEE Virtual Reality 2006 - Alexandria, VA, United States Duration: Mar 25 2006 → Mar 29 2006

Other

Other	IEEE Virtual Reality 2006
Country	United States
City	Alexandria, VA
Period	3/25/06 → 3/29/06

All Science Journal Classification (ASJC) codes

Engineering(all)

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10.1109/VR.2006.26

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title = "Analysis of spatially constrained reaching movements in haptic environments",

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 twoarm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.",

author = "Igor Goncharenko and Svinin, {Mikhail Mikhailovich} and Yutaka Kanou and Shigeyuki Hosoe",

year = "2006",

month = oct,

day = "24",

doi = "10.1109/VR.2006.26",

language = "English",

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AU - Goncharenko, Igor

AU - Svinin, Mikhail Mikhailovich

AU - Kanou, Yutaka

AU - Hosoe, Shigeyuki

PY - 2006/10/24

Y1 - 2006/10/24

N2 - 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 twoarm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.

AB - 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 twoarm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.

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DO - 10.1109/VR.2006.26

M3 - Conference contribution

AN - SCOPUS:33750141991

SN - 1424402247

SN - 9781424402243

VL - 2006

BT - IEEE Virtual Reality, Haptics Symposium and Symposium on 3D User Interface, 2006

T2 - IEEE Virtual Reality 2006

Y2 - 25 March 2006 through 29 March 2006

ER -

Analysis of spatially constrained reaching movements in haptic environments

Abstract

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