HapticV1, PubMed, Corpus, bibRecord, 000B87

Human-arm-and-hand-dynamic model with variability analyses for a stylus-based haptic interface.

Identifieur interne : 000B87 ( PubMed/Corpus ); précédent : 000B86; suivant : 000B88

Human-arm-and-hand-dynamic model with variability analyses for a stylus-based haptic interface.

Auteurs : Michael J. Fu ; M Cenk Cavu O Lu

Source :

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society [ 1941-0492 ] ; 2012.

RBID : pubmed:22692923

English descriptors

KwdEn :
- Adult, Arm (physiology), Biomechanical Phenomena, Cybernetics (instrumentation), Cybernetics (methods), Feedback, Female, Hand (physiology), Hand Strength (physiology), Humans, Male, Man-Machine Systems, Models, Biological, Phantoms, Imaging, Touch (physiology).
MESH :
- instrumentation : Cybernetics.
- methods : Cybernetics.
- physiology : Arm, Hand, Hand Strength, Touch.
- Adult, Biomechanical Phenomena, Feedback, Female, Humans, Male, Man-Machine Systems, Models, Biological, Phantoms, Imaging.

Abstract

Haptic interface research benefits from accurate human arm models for control and system design. The literature contains many human arm dynamic models but lacks detailed variability analyses. Without accurate measurements, variability is modeled in a very conservative manner, leading to less than optimal controller and system designs. This paper not only presents models for human arm dynamics but also develops inter- and intrasubject variability models for a stylus-based haptic device. Data from 15 human subjects (nine male, six female, ages 20-32) were collected using a Phantom Premium 1.5a haptic device for system identification. In this paper, grip-force-dependent models were identified for 1-3-N grip forces in the three spatial axes. Also, variability due to human subjects and grip-force variation were modeled as both structured and unstructured uncertainties. For both forms of variability, the maximum variation, 95 %, and 67 % confidence interval limits were examined. All models were in the frequency domain with force as input and position as output. The identified models enable precise controllers targeted to a subset of possible human operator dynamics.

DOI: 10.1109/TSMCB.2012.2197387
PubMed: 22692923

Links to Exploration step

pubmed:22692923

Le document en format XML

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<author><name sortKey="Fu, Michael J" sort="Fu, Michael J" uniqKey="Fu M" first="Michael J" last="Fu">Michael J. Fu</name>
<affiliation><nlm:affiliation>Cleveland Functional Electrical Stimulation Center of Excellence, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH 44106, USA. mfu@fes.org</nlm:affiliation>
</affiliation>
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<author><name sortKey="Cavu O Lu, M Cenk" sort="Cavu O Lu, M Cenk" uniqKey="Cavu O Lu M" first="M Cenk" last="Cavu O Lu">M Cenk Cavu O Lu</name>
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<author><name sortKey="Cavu O Lu, M Cenk" sort="Cavu O Lu, M Cenk" uniqKey="Cavu O Lu M" first="M Cenk" last="Cavu O Lu">M Cenk Cavu O Lu</name>
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<series><title level="j">IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society</title>
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<term>Cybernetics (methods)</term>
<term>Feedback</term>
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<term>Man-Machine Systems</term>
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<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Cybernetics</term>
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<front><div type="abstract" xml:lang="en">Haptic interface research benefits from accurate human arm models for control and system design. The literature contains many human arm dynamic models but lacks detailed variability analyses. Without accurate measurements, variability is modeled in a very conservative manner, leading to less than optimal controller and system designs. This paper not only presents models for human arm dynamics but also develops inter- and intrasubject variability models for a stylus-based haptic device. Data from 15 human subjects (nine male, six female, ages 20-32) were collected using a Phantom Premium 1.5a haptic device for system identification. In this paper, grip-force-dependent models were identified for 1-3-N grip forces in the three spatial axes. Also, variability due to human subjects and grip-force variation were modeled as both structured and unstructured uncertainties. For both forms of variability, the maximum variation, 95 %, and 67 % confidence interval limits were examined. All models were in the frequency domain with force as input and position as output. The identified models enable precise controllers targeted to a subset of possible human operator dynamics.</div>
</front>
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<DateCompleted><Year>2013</Year>
<Month>05</Month>
<Day>06</Day>
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<DateRevised><Year>2013</Year>
<Month>11</Month>
<Day>21</Day>
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<Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1941-0492</ISSN>
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<Title>IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society</Title>
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<Abstract><AbstractText>Haptic interface research benefits from accurate human arm models for control and system design. The literature contains many human arm dynamic models but lacks detailed variability analyses. Without accurate measurements, variability is modeled in a very conservative manner, leading to less than optimal controller and system designs. This paper not only presents models for human arm dynamics but also develops inter- and intrasubject variability models for a stylus-based haptic device. Data from 15 human subjects (nine male, six female, ages 20-32) were collected using a Phantom Premium 1.5a haptic device for system identification. In this paper, grip-force-dependent models were identified for 1-3-N grip forces in the three spatial axes. Also, variability due to human subjects and grip-force variation were modeled as both structured and unstructured uncertainties. For both forms of variability, the maximum variation, 95 %, and 67 % confidence interval limits were examined. All models were in the frequency domain with force as input and position as output. The identified models enable precise controllers targeted to a subset of possible human operator dynamics.</AbstractText>
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<MeshHeading><DescriptorName MajorTopicYN="N" UI="D014110">Touch</DescriptorName>
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Human-arm-and-hand-dynamic model with variability analyses for a stylus-based haptic interface.

Human-arm-and-hand-dynamic model with variability analyses for a stylus-based haptic interface.

Source :

English descriptors

Abstract

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki