TY - GEN
T1 - Analysis of spatially constrained reaching movements in haptic environments
AU - Goncharenko, Igor
AU - Svinin, Mikhail
AU - Kanou, Yutaka
AU - Hosoe, Shigeyuki
PY - 2006
Y1 - 2006
N2 - A distributed system with interchangeable constraints for studying skillful human movements via haptic displays is presented. A unified interface provides easy linking of various physical models with 2D and 3D static spatial constraints, and the graphical contents related to the models as well. The motion analysis is based on the data recorded by system's History Unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles are compared for several cases of basic reaching rest-to-rest tasks: curve-constrained motions with different curvatures, flexible object control, and cooperative two-arm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.
AB - A distributed system with interchangeable constraints for studying skillful human movements via haptic displays is presented. A unified interface provides easy linking of various physical models with 2D and 3D static spatial constraints, and the graphical contents related to the models as well. The motion analysis is based on the data recorded by system's History Unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles are compared for several cases of basic reaching rest-to-rest tasks: curve-constrained motions with different curvatures, flexible object control, and cooperative two-arm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.
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M3 - Conference contribution
AN - SCOPUS:33750951072
SN - 1424402263
SN - 9781424402267
T3 - 14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
SP - 399
EP - 405
BT - 14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
T2 - 14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006
Y2 - 25 March 2006 through 26 March 2006
ER -