Analysis of spatially constrained reaching movements in haptic environments

Igor Goncharenko, Mikhail Svinin, Yutaka Kanou, Shigeyuki Hosoe

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


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 twoarm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.

Original languageEnglish
Title of host publicationIEEE Virtual Reality, Haptics Symposium and Symposium on 3D User Interface, 2006
Number of pages1
Publication statusPublished - 2006
Externally publishedYes
EventIEEE Virtual Reality 2006 - Alexandria, VA, United States
Duration: Mar 25 2006Mar 29 2006

Publication series

NameProceedings - IEEE Virtual Reality


OtherIEEE Virtual Reality 2006
Country/TerritoryUnited States
CityAlexandria, VA

All Science Journal Classification (ASJC) codes

  • Engineering(all)


Dive into the research topics of 'Analysis of spatially constrained reaching movements in haptic environments'. Together they form a unique fingerprint.

Cite this