Characterization of Joint-Interpolated Arm Movements
Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of data has appeared that indicated straight-line trajectories in both hand space...
| Main Authors: | , |
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| Language: | en_US |
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2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/5605 |
| _version_ | 1826191431980548096 |
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| author | Hollerbach, John M. Atkeson, Christopher G. |
| author_facet | Hollerbach, John M. Atkeson, Christopher G. |
| author_sort | Hollerbach, John M. |
| collection | MIT |
| description | Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of data has appeared that indicated straight-line trajectories in both hand space and joint space at the same time. To assist in distinguishing between these viewpoints applied to the same data, we have theoretically characterized the set of trajectories derivable from a joint based planning strategy and have compared them to experimental measurements. We conclude that the apparent straight-lines in joint space happen to be artifacts of movement kinematics near the workspace boundary. |
| first_indexed | 2024-09-23T08:56:05Z |
| id | mit-1721.1/5605 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:56:05Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/56052019-04-10T19:49:58Z Characterization of Joint-Interpolated Arm Movements Hollerbach, John M. Atkeson, Christopher G. arm control kinematics trajectory planning Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of data has appeared that indicated straight-line trajectories in both hand space and joint space at the same time. To assist in distinguishing between these viewpoints applied to the same data, we have theoretically characterized the set of trajectories derivable from a joint based planning strategy and have compared them to experimental measurements. We conclude that the apparent straight-lines in joint space happen to be artifacts of movement kinematics near the workspace boundary. 2004-10-01T20:10:39Z 2004-10-01T20:10:39Z 1985-06-01 AIM-849 http://hdl.handle.net/1721.1/5605 en_US AIM-849 19 p. 2612602 bytes 2029961 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | arm control kinematics trajectory planning Hollerbach, John M. Atkeson, Christopher G. Characterization of Joint-Interpolated Arm Movements |
| title | Characterization of Joint-Interpolated Arm Movements |
| title_full | Characterization of Joint-Interpolated Arm Movements |
| title_fullStr | Characterization of Joint-Interpolated Arm Movements |
| title_full_unstemmed | Characterization of Joint-Interpolated Arm Movements |
| title_short | Characterization of Joint-Interpolated Arm Movements |
| title_sort | characterization of joint interpolated arm movements |
| topic | arm control kinematics trajectory planning |
| url | http://hdl.handle.net/1721.1/5605 |
| work_keys_str_mv | AT hollerbachjohnm characterizationofjointinterpolatedarmmovements AT atkesonchristopherg characterizationofjointinterpolatedarmmovements |