HapticV1, Main, Exploration, bibRecordById, pubmed:24259548

Constrained motion control on a hemispherical surface: path planning.

Identifieur interne : 001343 ( Main/Exploration ); précédent : 001342; suivant : 001344

Constrained motion control on a hemispherical surface: path planning.

Auteurs : Sigal Berman [Israël] ; Dario G. Liebermann ; Joseph Mcintyre

Source :

Journal of neurophysiology [ 1522-1598 ] ; 2014.

RBID : pubmed:24259548

English descriptors

KwdEn :
- Adult, Computer Simulation, Female, Hand (physiology), Humans, Male, Middle Aged, Movement (physiology), Young Adult.
MESH :
- physiology : Hand, Movement.
- Adult, Computer Simulation, Female, Humans, Male, Middle Aged, Young Adult.

Abstract

Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding paths and their relationship with task dynamics, we simulated various control policies. The simulations demonstrated that following a geodesic path (the shortest path between 2 points on a sphere) is advantageous not only in terms of path length but also in terms of motor planning and sensitivity to motor command errors. These stem from the fact that the applied forces lie in a single plane (that of the geodesic path). To test whether human subjects indeed follow the geodesic, and to see how such motion compares to other paths, we recorded movements in a virtual haptic-visual environment from 11 healthy subjects. The task comprised point-to-point motion between targets at two elevations (30° and 60°). Three typical choices of paths were observed from a frontal plane projection of the paths: circular arcs, straight lines, and arcs close to the geodesic path for each elevation. Based on the measured hand paths, we applied k-means blind separation to divide the subjects into three groups and compared performance indicators. The analysis confirmed that subjects who followed paths closest to the geodesic produced faster and smoother movements compared with the others. The "better" performance reflects the dynamical advantages of following the geodesic path and may also reflect invariant features of control policies used to produce such a surface-constrained motion.

DOI: 10.1152/jn.00132.2013
PubMed: 24259548

Affiliations:

Israël

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Constrained motion control on a hemispherical surface: path planning.</title>
<author><name sortKey="Berman, Sigal" sort="Berman, Sigal" uniqKey="Berman S" first="Sigal" last="Berman">Sigal Berman</name>
<affiliation wicri:level="1"><nlm:affiliation>Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel;</nlm:affiliation>
<country xml:lang="fr">Israël</country>
<wicri:regionArea>Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva</wicri:regionArea>
<wicri:noRegion>Beer-Sheva</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Liebermann, Dario G" sort="Liebermann, Dario G" uniqKey="Liebermann D" first="Dario G" last="Liebermann">Dario G. Liebermann</name>
</author>
<author><name sortKey="Mcintyre, Joseph" sort="Mcintyre, Joseph" uniqKey="Mcintyre J" first="Joseph" last="Mcintyre">Joseph Mcintyre</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2014">2014</date>
<idno type="RBID">pubmed:24259548</idno>
<idno type="pmid">24259548</idno>
<idno type="doi">10.1152/jn.00132.2013</idno>
<idno type="wicri:Area/PubMed/Corpus">000808</idno>
<idno type="wicri:Area/PubMed/Curation">000808</idno>
<idno type="wicri:Area/PubMed/Checkpoint">000697</idno>
<idno type="wicri:Area/Ncbi/Merge">002A98</idno>
<idno type="wicri:Area/Ncbi/Curation">002A98</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">002A98</idno>
<idno type="wicri:Area/Main/Merge">001349</idno>
<idno type="wicri:Area/Main/Curation">001343</idno>
<idno type="wicri:Area/Main/Exploration">001343</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Constrained motion control on a hemispherical surface: path planning.</title>
<author><name sortKey="Berman, Sigal" sort="Berman, Sigal" uniqKey="Berman S" first="Sigal" last="Berman">Sigal Berman</name>
<affiliation wicri:level="1"><nlm:affiliation>Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel;</nlm:affiliation>
<country xml:lang="fr">Israël</country>
<wicri:regionArea>Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva</wicri:regionArea>
<wicri:noRegion>Beer-Sheva</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Liebermann, Dario G" sort="Liebermann, Dario G" uniqKey="Liebermann D" first="Dario G" last="Liebermann">Dario G. Liebermann</name>
</author>
<author><name sortKey="Mcintyre, Joseph" sort="Mcintyre, Joseph" uniqKey="Mcintyre J" first="Joseph" last="Mcintyre">Joseph Mcintyre</name>
</author>
</analytic>
<series><title level="j">Journal of neurophysiology</title>
<idno type="eISSN">1522-1598</idno>
<imprint><date when="2014" type="published">2014</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term>
<term>Computer Simulation</term>
<term>Female</term>
<term>Hand (physiology)</term>
<term>Humans</term>
<term>Male</term>
<term>Middle Aged</term>
<term>Movement (physiology)</term>
<term>Young Adult</term>
</keywords>
<keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Hand</term>
<term>Movement</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Adult</term>
<term>Computer Simulation</term>
<term>Female</term>
<term>Humans</term>
<term>Male</term>
<term>Middle Aged</term>
<term>Young Adult</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding paths and their relationship with task dynamics, we simulated various control policies. The simulations demonstrated that following a geodesic path (the shortest path between 2 points on a sphere) is advantageous not only in terms of path length but also in terms of motor planning and sensitivity to motor command errors. These stem from the fact that the applied forces lie in a single plane (that of the geodesic path). To test whether human subjects indeed follow the geodesic, and to see how such motion compares to other paths, we recorded movements in a virtual haptic-visual environment from 11 healthy subjects. The task comprised point-to-point motion between targets at two elevations (30° and 60°). Three typical choices of paths were observed from a frontal plane projection of the paths: circular arcs, straight lines, and arcs close to the geodesic path for each elevation. Based on the measured hand paths, we applied k-means blind separation to divide the subjects into three groups and compared performance indicators. The analysis confirmed that subjects who followed paths closest to the geodesic produced faster and smoother movements compared with the others. The "better" performance reflects the dynamical advantages of following the geodesic path and may also reflect invariant features of control policies used to produce such a surface-constrained motion.</div>
</front>
</TEI>
<affiliations><list><country><li>Israël</li>
</country>
</list>
<tree><noCountry><name sortKey="Liebermann, Dario G" sort="Liebermann, Dario G" uniqKey="Liebermann D" first="Dario G" last="Liebermann">Dario G. Liebermann</name>
<name sortKey="Mcintyre, Joseph" sort="Mcintyre, Joseph" uniqKey="Mcintyre J" first="Joseph" last="Mcintyre">Joseph Mcintyre</name>
</noCountry>
<country name="Israël"><noRegion><name sortKey="Berman, Sigal" sort="Berman, Sigal" uniqKey="Berman S" first="Sigal" last="Berman">Sigal Berman</name>
</noRegion>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001343 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001343 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Main
   |étape=   Exploration
   |type=    RBID
   |clé=     pubmed:24259548
   |texte=   Constrained motion control on a hemispherical surface: path planning.
}}

Pour générer des pages wiki

HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i   -Sk "pubmed:24259548" \
       | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd   \
       | NlmPubMed2Wicri -a HapticV1

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

Serveur d'exploration sur les dispositifs haptiques

Constrained motion control on a hemispherical surface: path planning.

Constrained motion control on a hemispherical surface: path planning.

Source :

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

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

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.