Predictability of Rest-to-Rest Movements in Haptic Environments with 3D Constraints
Igor Goncharenko*, Mikhail Svinin**, Yutaka Kanou*,
and Shigeyuki Hosoe**
*3D Inc., 1-1 Sakaecho, Kanagawa-ku, Yokohama 221-0052, Japan
**Bio-Mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan
We present a networked system with interchangeable constraints for studying skillful human movements via haptic (PHANToM-based) displays. The unified interface easily links different physical models with 2D and 3D static spatial constraints and graphical content related to the models. We analyzed motions based on data recorded by a history unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles compared for several cases of basic reaching rest-to-rest tasks included curve-constrained motions with different curvatures, flexible object control, and cooperative two-arm movements. Experimental patterns exhibit the best agreement with optimal control models based on jerk and force-change minimization criteria.
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