On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments

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

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

2 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 hand force-change, are used for modeling and verification of experimental data. The data are collected with the haptic system supporting dynamic simulation of the flexible object in real time. We describe some initial experimental results and analyze the applicability of the models. It is found that even for short-term movements human motion planning strategy can depend on arm mass and configuration. This conclusion is based on the experimental evidence of the multi-phased hand velocity profiles that can be well captured by the minimum driving hand force-change criterion.

Original languageEnglish
Title of host publicationProceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007
Pages33-38
Number of pages6
DOIs
Publication statusPublished - Aug 28 2007
Event2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, WHC'07 - Tsukuba, Japan
Duration: Mar 22 2007Mar 24 2007

Publication series

NameProceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007

Other

Other2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, WHC'07
CountryJapan
CityTsukuba
Period3/22/073/24/07

Fingerprint

Motion planning
Computer simulation

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Software
  • Signal Processing

Cite this

Goncharenko, I., Svinin, M. M., Forstmann, S., Kanou, Y., & Hosoe, S. (2007). On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments. In Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007 (pp. 33-38). [4145147] (Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007). https://doi.org/10.1109/WHC.2007.87

On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments. / Goncharenko, Igor; Svinin, Mikhail Mikhailovich; Forstmann, Sven; Kanou, Yutaka; Hosoe, Shigeyuki.

Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007. 2007. p. 33-38 4145147 (Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007).

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

Goncharenko, I, Svinin, MM, Forstmann, S, Kanou, Y & Hosoe, S 2007, On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments. in Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007., 4145147, Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, pp. 33-38, 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, WHC'07, Tsukuba, Japan, 3/22/07. https://doi.org/10.1109/WHC.2007.87
Goncharenko I, Svinin MM, Forstmann S, Kanou Y, Hosoe S. On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments. In Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007. 2007. p. 33-38. 4145147. (Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007). https://doi.org/10.1109/WHC.2007.87
Goncharenko, Igor ; Svinin, Mikhail Mikhailovich ; Forstmann, Sven ; Kanou, Yutaka ; Hosoe, Shigeyuki. / On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments. Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007. 2007. pp. 33-38 (Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007).
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