A haptic system with interchangeable constraints for the analysis of skillful human movements

Author

Goncharenko, Igor ; Svinin, Mikhail ; Matsumoto, Soju ; Kanou, Yutaka ; Hosoe, Shigeyuki

Author_Institution

3D Inc., Yokohama, Japan

fYear

2005

fDate

18-20 March 2005

Firstpage

565

Lastpage

566

Abstract

A distributed system with interchangeable constraints for studying skillful human movements via haptic displays is presented. A unified interface provides easy linking of various physical models with spatial constraints, and the graphical contents related to the models as well. Theoretical and experimental kinematic profiles are compared for several cases of basic reaching rest-to-rest tasks: curve-constrained motions, flexible object control, and cooperative two-hand movements. The experimental patterns exhibit the best agreement with the optimal control models based on force-change minimization criteria.

Keywords

biomechanics; computer displays; graphical user interfaces; haptic interfaces; kinematics; virtual reality; cooperative two-hand movement; curve-constrained motion; distributed system; flexible object control; graphical content; haptic system; human movement; kinematic profile; Boundary conditions; Control systems; Force control; Haptic interfaces; History; Libraries; Optimal control; Torque; Vectors; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint

Print_ISBN

0-7695-2310-2

Type

conf

DOI

10.1109/WHC.2005.13

Filename

1407010