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 | |
| 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 | Spain |
| City | Barcelona |
| Period | 4/18/05 → 4/22/05 |
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All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
Cite this
Reaching movements in dynamic environments : How do we move flexible objects? / Svinin, Mikhail Mikhailovich; Goncharenko, I.; Luo, Z. W.; Hosoc, S.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 396-403 1570151.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Reaching movements in dynamic environments
T2 - How do we move flexible objects?
AU - Svinin, Mikhail Mikhailovich
AU - Goncharenko, I.
AU - Luo, Z. W.
AU - Hosoc, S.
PY - 2005/12/1
Y1 - 2005/12/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=33846161630&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846161630&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570151
DO - 10.1109/ROBOT.2005.1570151
M3 - Conference contribution
AN - SCOPUS:33846161630
SN - 078038914X
SN - 9780780389144
VL - 2005
SP - 396
EP - 403
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
ER -