Modelling of direct motor program learning in fast human arm motions

Dimitry M. Gorinevsky

doi:10.1007/bf00198962

Analysis of Human Arm Motions Recognition Algorithms for System to Visualize Virtual Arm

2011 21st International Conference on Systems Engineering ◽

10.1109/icseng.2011.83 ◽

2011 ◽

Cited By ~ 3

Author(s):

Krzysztof Brzostowski ◽

Maciej Zieba

Keyword(s):

Recognition Algorithms ◽

Arm Motions ◽

Human Arm

Download Full-text

Fuzzy expert control of coordinated robots using 3D measurements of human arm motions: coordinated motion control

10.1117/12.164964 ◽

1993 ◽

Author(s):

Kiyo Matsuoka ◽

Hunghsu Tsai

Keyword(s):

Motion Control ◽

Coordinated Motion ◽

Expert Control ◽

3D Measurements ◽

Arm Motions ◽

Human Arm ◽

Fuzzy Expert Control

Download Full-text

On the role of stiffness and synchronization in human–robot handshaking

The International Journal of Robotics Research ◽

10.1177/0278364920903792 ◽

2020 ◽

Vol 39 (14) ◽

pp. 1796-1811 ◽

Cited By ~ 3

Author(s):

Domenico Mura ◽

Espen Knoop ◽

Manuel G Catalano ◽

Giorgio Grioli ◽

Moritz Bächer ◽

...

Keyword(s):

Personality Traits ◽

Impedance Control ◽

Robotic Arm ◽

Robot Arm ◽

Passive Behavior ◽

Arm Motions ◽

Human Arm ◽

Human Likeness

This article presents a system for soft human–robot handshaking, using a soft robot hand in conjunction with a lightweight and impedance-controlled robot arm. Using this system, we study how different factors influence the perceived naturalness, and give the robot different personality traits. Capitalizing on recent findings regarding handshake grasp force regulation, and on studies of the impedance control of the human arm, we investigate the role of arm stiffness as well as the kinesthetic synchronization of human and robot arm motions during the handshake. The system is implemented using a lightweight anthropomorphic arm, with a Pisa/IIT Softhand wearing a sensorized silicone glove as the end-effector. The robotic arm is impedance-controlled, and its stiffness changes according to different laws under investigation. An internal observer is employed to synchronize the human and robot arm motions. Thus, we simulate both active and passive behavior of the robotic arm during the interaction. Using the system, studies are conducted where 20 participants are asked to interact with the robot, and then rate the perceived quality of the interaction using Likert scales. Our results show that the control of the robotic arm kinesthetic behavior does have an effect on the interaction with the robot, in term of its perceived personality traits, responsiveness, and human-likeness. Our results pave the way towards robotic systems that are capable of performing human–robot interactions in a more human-like manner, and with personality.

Download Full-text

Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions

2018 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2018.8461190 ◽

2018 ◽

Cited By ~ 3

Author(s):

Roman Weitschat ◽

Jan Ehrensperger ◽

Moritz Maier ◽

Harald Aschemann

Keyword(s):

Arm Motions ◽

Human Arm ◽

Human Robot Collaboration

Download Full-text

A mathematical model of the adaptive control of human arm motions

Biological Cybernetics ◽

10.1007/s004220050532 ◽

1999 ◽

Vol 80 (5) ◽

pp. 369-382 ◽

Cited By ~ 30

Author(s):

Robert M. Sanner ◽

Makiko Kosha

Keyword(s):

Mathematical Model ◽

Adaptive Control ◽

Arm Motions ◽

Human Arm

Download Full-text

ON THE BÊTA-ELLIPTIC MODEL FOR THE CONTROL OF THE HUMAN ARM MOVEMENT

International Journal of Pattern Recognition and Artificial Intelligence ◽

10.1142/s0218001407005272 ◽

2007 ◽

Vol 21 (01) ◽

pp. 5-19 ◽

Cited By ~ 15

Author(s):

HALA BEZINE ◽

MEHDI KEFI ◽

ADEL M. ALIMI

Keyword(s):

Degrees Of Freedom ◽

Arm Movement ◽

Motor Program ◽

Movement Trajectories ◽

Hand Model ◽

Elliptic Theory ◽

Human Arm ◽

Elliptic Model ◽

Cursive Script ◽

Natural Movement

This article describes a kinematic theory, called the Bêta-elliptic model, for generating handwriting movements. The model consists of a sequential controller producing a curvilinear velocity approximated by Bêta profiles. This earlier interacts with a trajectory generator to provide elliptic strokes. As an application to our model, we consider a redundant seven degrees of freedom manipulator having a kinematic structure similar to that of a human arm. We treat to demonstrate how the Bêta-elliptic theory enables a simple motor program to generate complex curvilinear movements that have many of the properties that humans exhibit when they produce cursive script. Bêta-elliptic properties enable a simple control strategy to generate complex handwritten script if the hand model contains redundant degrees of freedom. Here, we restrict our analysis to a total of seven degrees of freedom from the shoulder to the wrist. The proposed controller launches transient commands to independent hand synergies at times when the hand begins to move. The Bêta-elliptic model transforms these synergy commands into smooth curvilinear velocity fitted by Bêta profiles among temporally overlapping synergetic units of trajectory approximated by elliptic strokes. In experiments, and at first sight, good phenomenological agreement with natural movement trajectories is found.

Download Full-text