Title :
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
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;
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
DOI :
10.1109/WHC.2005.13
