Modeling of human-like reaching movements in the manipulation of flexible objects

M. Svinin; I. Goncharenko; Z. W. Luo; S. Hosoe

doi:10.1109/IROS.2006.282277

Modeling of human-like reaching movements in the manipulation of flexible objects

M. Svinin, I. Goncharenko, Z. W. Luo, S. Hosoe

Faculty of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

The paper presents an analysis of human reaching movements in the manipulation of flexible objects. Two models, the minimum hand jerk and the minimum driving force-change, are derived and their basic features are analyzed. It is shown that the first model features two-phased hand velocity profiles, while in the second models there are multiple phases. The analysis of the phase transitions for the models considered is done in the analytical form. The results of this analysis can be helpful in the design of experimental scenarios for the verification of the theoretical models. Finally, we present some initial experimental results and analyze the applicability of the models developed in this paper.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	549-555
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2006.282277
Publication status	Published - Dec 1 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: Oct 9 2006 → Oct 15 2006

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	10/9/06 → 10/15/06

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2006.282277

Cite this

Modeling of human-like reaching movements in the manipulation of flexible objects. / Svinin, M.; Goncharenko, I.; Luo, Z. W. et al.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 549-555 4059321 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Svinin, M, Goncharenko, I, Luo, ZW & Hosoe, S 2006, Modeling of human-like reaching movements in the manipulation of flexible objects. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4059321, IEEE International Conference on Intelligent Robots and Systems, pp. 549-555, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 10/9/06. https://doi.org/10.1109/IROS.2006.282277

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abstract = "The paper presents an analysis of human reaching movements in the manipulation of flexible objects. Two models, the minimum hand jerk and the minimum driving force-change, are derived and their basic features are analyzed. It is shown that the first model features two-phased hand velocity profiles, while in the second models there are multiple phases. The analysis of the phase transitions for the models considered is done in the analytical form. The results of this analysis can be helpful in the design of experimental scenarios for the verification of the theoretical models. Finally, we present some initial experimental results and analyze the applicability of the models developed in this paper.",

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AB - The paper presents an analysis of human reaching movements in the manipulation of flexible objects. Two models, the minimum hand jerk and the minimum driving force-change, are derived and their basic features are analyzed. It is shown that the first model features two-phased hand velocity profiles, while in the second models there are multiple phases. The analysis of the phase transitions for the models considered is done in the analytical form. The results of this analysis can be helpful in the design of experimental scenarios for the verification of the theoretical models. Finally, we present some initial experimental results and analyze the applicability of the models developed in this paper.

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Modeling of human-like reaching movements in the manipulation of flexible objects

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