TY - GEN
T1 - Modeling of human-like reaching movements in the manipulation of parallel flexible objects
AU - Svinin, Mikhail
AU - Goncharenko, Igor
AU - Lee, Hagchang
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - The paper presents an analysis of human-like reaching movements in manipulation of parallel flexible objects. To predict the trajectory of human hand, a minimum hand jerk model, based on the minimization of integral of squared hand jerk over the movement duration is established. It is shown that within this model the optimal hand trajectory is composed of a fifth order polynomial and two trigonometric terms depending on the natural frequencies of the system and the movement time. A virtual reality-based experimental setup with a haptic simulator is designed, and the prediction by the minimum hand jerk model is verified against experimental data. The theoretical prediction matches the collected data with a reasonable accuracy. The initial experimental results confirm the applicability of the minimum hand jerk model for modeling of human-like reaching movements in dynamic environments.
AB - The paper presents an analysis of human-like reaching movements in manipulation of parallel flexible objects. To predict the trajectory of human hand, a minimum hand jerk model, based on the minimization of integral of squared hand jerk over the movement duration is established. It is shown that within this model the optimal hand trajectory is composed of a fifth order polynomial and two trigonometric terms depending on the natural frequencies of the system and the movement time. A virtual reality-based experimental setup with a haptic simulator is designed, and the prediction by the minimum hand jerk model is verified against experimental data. The theoretical prediction matches the collected data with a reasonable accuracy. The initial experimental results confirm the applicability of the minimum hand jerk model for modeling of human-like reaching movements in dynamic environments.
UR - http://www.scopus.com/inward/record.url?scp=85006354968&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006354968&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759709
DO - 10.1109/IROS.2016.7759709
M3 - Conference contribution
AN - SCOPUS:85006354968
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4830
EP - 4835
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -