Predictability of Rest-to-Rest Movements in Haptic Environments with 3D Constraints | Zendy

Igor Goncharenko | Zendy; Mikhail Svinin | Zendy; Y. Kanou | Zendy; Shigeyuki Hosoe | Zendy

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Predictability of Rest-to-Rest Movements in Haptic Environments with 3D Constraints

Author(s) -

Igor Goncharenko,

Mikhail Svinin,

Y. Kanou,

Shigeyuki Hosoe

Publication year - 2006

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2006.p0458

Subject(s) - rest (music) , kinematics , haptic technology , computer science , jerk , predictability , simulation , movement (music) , trajectory , artificial intelligence , control theory (sociology) , computer vision , control (management) , acceleration , mathematics , physics , statistics , classical mechanics , astronomy , acoustics

We present a networked system with interchangeable constraints for studying skillful human movements via haptic (PHANToM-based) displays. The unified interface easily links different physical models with 2D and 3D static spatial constraints and graphical content related to the models. We analyzed motions based on data recorded by a history unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles compared for several cases of basic reaching rest-to-rest tasks included curve-constrained motions with different curvatures, flexible object control, and cooperative two-arm movements. Experimental patterns exhibit the best agreement with optimal control models based on jerk and force-change minimization criteria.

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