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

Mikhail Mikhailovich Svinin, Igor Goncharenko, Zhi Wei Luo, Shigeyuki Hosoe

Research output: Contribution to journalArticle

33 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 introduced 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 multimass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion to the prediction of reaching movements with multimass objects.

Original languageEnglish
Pages (from-to)724-739
Number of pages16
JournalIEEE Transactions on Robotics
Volume22
Issue number4
DOIs
Publication statusPublished - Aug 1 2006

Fingerprint

Trajectories

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Reaching movements in dynamic environments : How do we move flexible objects? / Svinin, Mikhail Mikhailovich; Goncharenko, Igor; Luo, Zhi Wei; Hosoe, Shigeyuki.

In: IEEE Transactions on Robotics, Vol. 22, No. 4, 01.08.2006, p. 724-739.

Research output: Contribution to journalArticle

Svinin, Mikhail Mikhailovich ; Goncharenko, Igor ; Luo, Zhi Wei ; Hosoe, Shigeyuki. / Reaching movements in dynamic environments : How do we move flexible objects?. In: IEEE Transactions on Robotics. 2006 ; Vol. 22, No. 4. pp. 724-739.
@article{4d837637fca04308bba1f3c8b8903571,
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 introduced 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 multimass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion to the prediction of reaching movements with multimass objects.",
author = "Svinin, {Mikhail Mikhailovich} and Igor Goncharenko and Luo, {Zhi Wei} and Shigeyuki Hosoe",
year = "2006",
month = "8",
day = "1",
doi = "10.1109/TRO.2006.878794",
language = "English",
volume = "22",
pages = "724--739",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

TY - JOUR

T1 - Reaching movements in dynamic environments

T2 - How do we move flexible objects?

AU - Svinin, Mikhail Mikhailovich

AU - Goncharenko, Igor

AU - Luo, Zhi Wei

AU - Hosoe, Shigeyuki

PY - 2006/8/1

Y1 - 2006/8/1

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 introduced 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 multimass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion to the prediction of reaching movements with multimass 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 introduced 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 multimass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion to the prediction of reaching movements with multimass objects.

UR - http://www.scopus.com/inward/record.url?scp=33747611936&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33747611936&partnerID=8YFLogxK

U2 - 10.1109/TRO.2006.878794

DO - 10.1109/TRO.2006.878794

M3 - Article

AN - SCOPUS:33747611936

VL - 22

SP - 724

EP - 739

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 4

ER -