Human arm redundancy: a new approach for the inverse kinematics problem
The inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human mo...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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The Royal Society
2024-02-01
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| Series: | Royal Society Open Science |
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| Online Access: | https://royalsocietypublishing.org/doi/10.1098/rsos.231036 |
| _version_ | 1797265157199495168 |
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| author | Avi Barliya Nili Krausz Hila Naaman Enrico Chiovetto Martin Giese Tamar Flash |
| author_facet | Avi Barliya Nili Krausz Hila Naaman Enrico Chiovetto Martin Giese Tamar Flash |
| author_sort | Avi Barliya |
| collection | DOAJ |
| description | The inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human movements, enabling the motor system to solve the IK problem in the presence of kinematic redundancies. We used a multi-dimensional sparse source separation method to derive sets of basis (or source) functions for both the task and joint spaces, with joint space represented by either absolute or anatomical joint angles. We assessed the similarities between joint and task sources in each of these joint representations, finding that the time-dependent profiles of the absolute reference frame’s sources show greater similarity to corresponding sources in the task space. This result was found to be statistically significant. Our analysis suggests that the nervous system represents multi-joint arm movements using a limited number of basis functions, allowing for simple transformations between task and joint spaces. Additionally, joint space seems to be represented in an absolute reference frame to simplify the IK transformations, given redundancies. Further studies will assess this finding’s generalizability and implications for neural control of movement. |
| first_indexed | 2024-03-07T20:10:29Z |
| format | Article |
| id | doaj.art-03e0a8cb86314619aeccab79e95a85b6 |
| institution | Directory Open Access Journal |
| issn | 2054-5703 |
| language | English |
| last_indexed | 2024-04-25T00:40:20Z |
| publishDate | 2024-02-01 |
| publisher | The Royal Society |
| record_format | Article |
| series | Royal Society Open Science |
| spelling | doaj.art-03e0a8cb86314619aeccab79e95a85b62024-03-12T09:55:03ZengThe Royal SocietyRoyal Society Open Science2054-57032024-02-0111210.1098/rsos.231036Human arm redundancy: a new approach for the inverse kinematics problemAvi Barliya0Nili Krausz1Hila Naaman2Enrico Chiovetto3Martin Giese4Tamar Flash5Motor Control for Humans and Robotic Systems Laboratory, Weizmann Institute of Science, Rehovot, Central, IsraelMotor Control for Humans and Robotic Systems Laboratory, Weizmann Institute of Science, Rehovot, Central, IsraelMotor Control for Humans and Robotic Systems Laboratory, Weizmann Institute of Science, Rehovot, Central, IsraelSection Theoretical Sensomotorics, HIH/CIN, University Clinic of Tübingen, Tubingen, Baden-Württemberg, GermanySection Theoretical Sensomotorics, HIH/CIN, University Clinic of Tübingen, Tubingen, Baden-Württemberg, GermanyMotor Control for Humans and Robotic Systems Laboratory, Weizmann Institute of Science, Rehovot, Central, IsraelThe inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human movements, enabling the motor system to solve the IK problem in the presence of kinematic redundancies. We used a multi-dimensional sparse source separation method to derive sets of basis (or source) functions for both the task and joint spaces, with joint space represented by either absolute or anatomical joint angles. We assessed the similarities between joint and task sources in each of these joint representations, finding that the time-dependent profiles of the absolute reference frame’s sources show greater similarity to corresponding sources in the task space. This result was found to be statistically significant. Our analysis suggests that the nervous system represents multi-joint arm movements using a limited number of basis functions, allowing for simple transformations between task and joint spaces. Additionally, joint space seems to be represented in an absolute reference frame to simplify the IK transformations, given redundancies. Further studies will assess this finding’s generalizability and implications for neural control of movement.https://royalsocietypublishing.org/doi/10.1098/rsos.231036motor coordinationinverse kinematicsmotion planningmotor compositionalitycoordinate frames |
| spellingShingle | Avi Barliya Nili Krausz Hila Naaman Enrico Chiovetto Martin Giese Tamar Flash Human arm redundancy: a new approach for the inverse kinematics problem Royal Society Open Science motor coordination inverse kinematics motion planning motor compositionality coordinate frames |
| title | Human arm redundancy: a new approach for the inverse kinematics problem |
| title_full | Human arm redundancy: a new approach for the inverse kinematics problem |
| title_fullStr | Human arm redundancy: a new approach for the inverse kinematics problem |
| title_full_unstemmed | Human arm redundancy: a new approach for the inverse kinematics problem |
| title_short | Human arm redundancy: a new approach for the inverse kinematics problem |
| title_sort | human arm redundancy a new approach for the inverse kinematics problem |
| topic | motor coordination inverse kinematics motion planning motor compositionality coordinate frames |
| url | https://royalsocietypublishing.org/doi/10.1098/rsos.231036 |
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