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Redundancy in Robot Manipulators and Multi-Robot Systems pp 201–240Cite as

Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements

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Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 57)

Abstract

The aim of this work is to characterize the regularity and variability of human arm movements. The arm posture is quantified by a swivel angle that is experimentally measured when a healthy subject is reaching for targets in a spherical workspace. It is shown that without specific instruction, a subject moving his/her arm tends to use a consistent arm posture with small variations when reaching the same target position, regardless of whether the subject is moving toward or away from the target. This observed posture consistency indicates that human motor control chooses a unique arm posture associated to a 3D hand position. From the perspective of posture consistency, this work further examines the posture predictions based on two hypotheses on human arm control strategies: one that maximizes the movement efficiency towards the head, particularly toward the mouth; and the other that minimizes the power consumption in joint space. The arm posture predictions based on these two control strategies are compared and the prediction errors for each control strategy are analyzed.

Keywords

  • Joint Torque
  • Task Space
  • Wrist Position
  • Virtual Target
  • Posture Consistency

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  1. Bionics lab at UCSC, University of California, Santa Cruz, 1156 High Street, Santa Cruz, CA, 95064, USA

    Zhi Li, Hyunchul Kim, Dejan Milutinović & Jacob Rosen

Authors
  1. Zhi Li
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  2. Hyunchul Kim
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  3. Dejan Milutinović
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  4. Jacob Rosen
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Correspondence to Zhi Li .

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Editors and Affiliations

  1. , Applied Mathematics and Statistics Dept, University of California, High St, M/S SOE2 1156, Santa Cruz, 95064, USA

    Dejan Milutinović

  2. , Computer Engineering Dept, University of California, High St 1156, Santa Cruz, 95064, California, USA

    Jacob Rosen

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Li, Z., Kim, H., Milutinović, D., Rosen, J. (2013). Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements. In: Milutinović, D., Rosen, J. (eds) Redundancy in Robot Manipulators and Multi-Robot Systems. Lecture Notes in Electrical Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33971-4_12

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  • DOI: https://doi.org/10.1007/978-3-642-33971-4_12

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