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

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

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

7 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 languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages549-555
Number of pages7
DOIs
Publication statusPublished - Dec 1 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

All Science Journal Classification (ASJC) codes

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

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