Title :
Recreating life-like motion in robotic limbs
Author :
Wolpert, Seth ; Cho, Marvin
Author_Institution :
Dept. of Electr. Eng., Maine Univ., Orono, ME, USA
Abstract :
A study in which the motion of living limbs was characterized and formulated for the control of mechanical limbs is discussed. Trajectories of human elbow joints performing a blind reaching motion were digitized and smoothed using an A/D converter on a personal computer. Waveforms for position over time were recorded and velocity and acceleration waveforms derived from them. Trajectories were normalized with respect to time and amplitude and a polynomial curve and its first two derivatives fitted to them. Finally, the human trajectories were compared to that of a robotic arm controlled by a biologically based algorithm using artificial nerve cells
Keywords :
artificial limbs; feedback; force control; intelligent control; medical signal processing; motion control; neurocontrollers; polynomials; velocity control; waveform analysis; A/D converter; VLSI based neuron; acceleration waveforms; artificial nerve cells; biologically based algorithm; blind reaching motion; control of mechanical limbs; digitized; human elbow joints; human trajectories; life-like motion recreation; motion of living limbs; neuronal control; normalized trajectories; polynomial curve; position over time waveforms; prosthetic limbs; robotic limbs; smoothed; velocity waveforms; Acceleration; Humans; Mathematical model; Microcomputers; Motion control; Polynomials; Robot control; Robot motion; Robot sensing systems; Velocity control;
Conference_Titel :
Bioengineering Conference, 1993., Proceedings of the 1993 IEEE Nineteenth Annual Northeast
Conference_Location :
Newark, NJ
Print_ISBN :
0-7803-0925-1
DOI :
10.1109/NEBC.1993.404394
