On the influence of arm inertia and configuration on motion planning of reaching movements in haptic environments

被引：0
|
作者：
Goncharenko, Igor [1 ]
Svinin, Mikhail [1 ,2 ]
Forstmann, Sven [1 ]
Kanou, Yutaka [1 ]
Hosoe, Shigeyuki [1 ,2 ]
机构：
[1] 3D Inc, Kanagawa Ku, 1-1 Sakaecho, Yokohama, Kanagawa 2210052, Japan
[2] RIKEN, Bio-Mimet Control Res Ctr, Nagoya, Aichi 4630003, Japan
来源：
WORLD HAPTICS 2007: SECOND JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS | 2007年
关键词：
D O I：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper-presents an analysis of human reaching movements in the manipulation of flexible objects. Two models, the minimum hand jerk and the minimum driving hand force-change, are used for modeling and verification, of experimental data. The data are collected with, the haptic system supporting dynamic simulation of the flexible object in real time. We describe some.,initial experimental results and analyze the applicability of the models. It is found that even for short-term movements human motion planning strategy can depend on arm mass and configuration. This conclusion is based on the experimental evidence of the multi-phased hand velocity profiles that can be well captured by the minimum driving hand force-change criterion.
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页码：33 / +
页数：2
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