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Natural Human Movements in Geometrically Constrained Haptic Environments

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Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 432)

Abstract

A haptic simulation system with configurable physical constraints for studying skillful human movements is presented. Different curve/surface constraints in 3D can be generated and linked to the system. The system is tested on a variety of tasks performed by human subjects. Theoretical and experimental kinematic profiles are compared for the case of basic rest-to-rest task, namely, line-constrained movement during transport of flexible object. In addition, the demonstration includes also the manipulation of parallel flexible objects, chained objects with elliptical constraint, and a rolling ball manipulation with torque feedbacks applied to the haptic manipulator.

Keywords

  • Motor control
  • Constrained human movement
  • Optimality

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  • DOI: 10.1007/978-981-10-4157-0_3
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Acknowledgments

This research was supported in part by MEXT KAKENHI Grant Number JP15K05900.

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Correspondence to Igor Goncharenko .

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© 2018 Springer Nature Singapore Pte Ltd.

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Goncharenko, I., Svinin, M., Kryssanov, V. (2018). Natural Human Movements in Geometrically Constrained Haptic Environments. In: Hasegawa, S., Konyo, M., Kyung, KU., Nojima, T., Kajimoto, H. (eds) Haptic Interaction. AsiaHaptics 2016. Lecture Notes in Electrical Engineering, vol 432. Springer, Singapore. https://doi.org/10.1007/978-981-10-4157-0_3

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  • DOI: https://doi.org/10.1007/978-981-10-4157-0_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-4156-3

  • Online ISBN: 978-981-10-4157-0

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