Reaching movements in dynamic environments: How do we move flexible objects?

Mikhail Mikhailovich Svinin; I. Goncharenko; Z. W. Luo; S. Hosoc

doi:10.1109/ROBOT.2005.1570151

Reaching movements in dynamic environments: How do we move flexible objects?

Mikhail Mikhailovich Svinin, I. Goncharenko, Z. W. Luo, S. Hosoc

Faculty of Engineering

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

4 Citations (Scopus)

Abstract

The paper presents an analysis of human reaching movements in manipulation of flexible objects. To predict the trajectory of human hand, a minimum crackle criterion has been recently proposed in literature. A different approach is explored in this paper. To explain the trajectory formation, we resort to the minimum hand jerk criterion. First, we show that this criterion matches well experimental data available in literature. Next, we argue that, contrary to the minimum crackle criterion, the minimum hand jerk criterion produces bounded hand velocity profiles for multi-mass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion in manipulation of multi-mass objects.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	396-403
Number of pages	8
Volume	2005
DOIs	https://doi.org/10.1109/ROBOT.2005.1570151
Publication status	Published - Dec 1 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570151

Cite this

Svinin, MM, Goncharenko, I, Luo, ZW & Hosoc, S 2005, Reaching movements in dynamic environments: How do we move flexible objects? in Proceedings of the 2005 IEEE International Conference on Robotics and Automation. vol. 2005, 1570151, pp. 396-403, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570151

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title = "Reaching movements in dynamic environments: How do we move flexible objects?",

abstract = "The paper presents an analysis of human reaching movements in manipulation of flexible objects. To predict the trajectory of human hand, a minimum crackle criterion has been recently proposed in literature. A different approach is explored in this paper. To explain the trajectory formation, we resort to the minimum hand jerk criterion. First, we show that this criterion matches well experimental data available in literature. Next, we argue that, contrary to the minimum crackle criterion, the minimum hand jerk criterion produces bounded hand velocity profiles for multi-mass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion in manipulation of multi-mass objects.",

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AB - The paper presents an analysis of human reaching movements in manipulation of flexible objects. To predict the trajectory of human hand, a minimum crackle criterion has been recently proposed in literature. A different approach is explored in this paper. To explain the trajectory formation, we resort to the minimum hand jerk criterion. First, we show that this criterion matches well experimental data available in literature. Next, we argue that, contrary to the minimum crackle criterion, the minimum hand jerk criterion produces bounded hand velocity profiles for multi-mass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion in manipulation of multi-mass objects.

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Reaching movements in dynamic environments: How do we move flexible objects?

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