Measurement of Human Hand Impedance in Dual Arm Configurations

2004 ◽  
Vol 16 (6) ◽  
pp. 635-642 ◽  
Author(s):  
Yusaku Takeda ◽  
◽  
Yoshiyuki Tanaka ◽  
Toshio Tsuji
Keyword(s):  
Dynamic Characteristics ◽  
Arm Movements ◽  
Mechanical Impedance ◽  
Human Hand ◽  
Human Movements ◽  
Robot Cooperation ◽  
Dual Arm

Dynamic characteristics of a human extremity are usually expressed using the mechanical impedance. This paper examines hand impedance in dual arm movements while posture was maintained in dual-arm configurations. The results of experiments show that the orientation of viscosity ellipses roughly agrees with the human sagittal axis, tending to be oriented similar to stiffness ellipses. Viscosity and stiffness amplitude and orientation exceed those of single arm. Our results will be used in human-robot cooperation systems and in analyzing human movements.

A Virtual Sports System for Skill Training

2001 ◽  
Vol 13 (2) ◽  
pp. 168-175 ◽  
Author(s):  
Toshio Tsuji ◽  
◽  
Yasuteru Sumida ◽  
Makoto Kaneko ◽  
Sadao Kawamura ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Dynamic Characteristics ◽  
Skill Training ◽  
Mechanical Impedance ◽  
Training System ◽  
Upper Extremities ◽  
Training Method ◽  
Sports Training ◽  
Human Movements ◽  
Impedance Characteristics

Dynamic characteristics of human upper extremities are usually modeled with mechanical impedance. Although many studies have been reported on the human impedance characteristics, there is no such a report in which the human impedance is utilized for skill training and rehabilitation. As the first step to develop a training method based on human impedance characteristics, this paper proposes a virtual sports training system using a virtual reality technique in order to measure human movements during sports. From experiments, differences of movements between skilled and unskilled subjects are analyzed.

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Sambad Regmi ◽  
Yun Seong Song
Keyword(s):  
Dynamic Characteristics ◽  
Design Methodology ◽  
Design Method ◽  
Mechanical Impedance ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Arms ◽  
Mathematical Simulations ◽  
Early Design Phase

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

Evaluation and Optimization of Dual-Arm Robot Path Planning for Human–Robot Collaborative Tasks in Smart Manufacturing Contexts

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Weitian Wang ◽  
Yi Chen ◽  
Yunyi Jia
Keyword(s):  
Path Planning ◽  
Evaluation Study ◽  
Smart Manufacturing ◽  
Maximum Efficiency ◽  
Human Hand ◽  
Robot Path Planning ◽  
Collaborative Manufacturing ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Robot Path

Abstract In human–robot collaborative tasks, the performance of robot path planning has a direct impact on the robot-to-human hand-over process, or even the collaboration quality. In this work, we propose an evaluation study on multiple robot path planners with different metrics and reveal their pros and cons in representative human–robot collaborative manufacturing contexts. Afterward, based on the proposed metrics, we define a cost function for the dual-arm robot to choose optimized path planning solutions with maximum efficiency for its human partner in human–robot collaboration. We implement the proposed evaluation and optimization approaches to multiple realistic human–robot collaborative manufacturing contexts. Experimental results and evaluations suggest that our approaches are able to provide positive solutions for the robot path planner selection and also open a window for exploring more complicated and general robot path planning applications to human–robot collaborative tasks in smart manufacturing contexts.

Complex Unconstrained Three-Dimensional Hand Movement and Constant Equi-Affine Speed

2009 ◽  
Vol 101 (2) ◽  
pp. 1002-1015 ◽  
Author(s):  
Uri Maoz ◽  
Alain Berthoz ◽  
Tamar Flash
Keyword(s):  
Power Law ◽  
Hand Movement ◽  
Three Dimensional ◽  
Hand Movements ◽  
Human Hand ◽  
Local Geometry ◽  
Planning And Control ◽  
Human Movements ◽  
And Control ◽  
Geometry And Kinematics

One long-established simplifying principle behind the large repertoire and high versatility of human hand movements is the two-thirds power law—an empirical law stating a relationship between local geometry and kinematics of human hand trajectories during planar curved movements. It was further generalized not only to various types of human movements, but also to motion perception and prediction, although it was unsuccessful in explaining unconstrained three-dimensional (3D) movements. Recently, movement obeying the power law was proved to be equivalent to moving with constant planar equi-affine speed. Generalizing such motion to 3D space—i.e., to movement at constant spatial equi-affine speed—predicts the emergence of a new power law, whose utility for describing spatial scribbling movements we have previously demonstrated. In this empirical investigation of the new power law, subjects repetitively traced six different 3D geometrical shapes with their hand. We show that the 3D power law explains the data consistently better than both the two-thirds power law and an additional power law that was previously suggested for spatial hand movements. We also found small yet systematic modifications of the power-law's exponents across the various shapes, which further scrutiny suggested to be correlated with global geometric factors of the traced shape. Nevertheless, averaging over all subjects and shapes, the power-law exponents are generally in accordance with constant spatial equi-affine speed. Taken together, our findings provide evidence for the potential role of non-Euclidean geometry in motion planning and control. Moreover, these results seem to imply a relationship between geometry and kinematics that is more complex than the simple local one stipulated by the two-thirds power law and similar models.

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