Stabilizing unstable object by means of kinematic redundancy.
Identifieur interne : 001776 ( Ncbi/Checkpoint ); précédent : 001775; suivant : 001777Stabilizing unstable object by means of kinematic redundancy.
Auteurs : L. Masia [Italie] ; V. Squeri ; D. Saha ; E. Burdet ; G. Sandini ; P. MorassoSource :
- Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference [ 1557-170X ] ; 2010.
English descriptors
- KwdEn :
- MESH :
- methods : Biofeedback, Psychology.
- physiology : Biofeedback, Psychology, Movement, Postural Balance, Psychomotor Performance, Wrist Joint.
- Computer Simulation, Humans, Models, Biological.
Abstract
The paper aims to investigate how humans deal with unstable objects under the possibility of choosing different strategy of interaction. The presented task consisted in balancing a 1 degree of freedom (DoF) elastic inverted pendulum by means of 2 DoF of the wrist (fexion/extension and pronation/supination). The pendulum was simulated using a virtual environment and the haptic feedback was generated by a robotic wrist device. The task is a redundant because the subject can choose how to use the 2 DoF in order to move and stabilize a 1 DoF simulated mechanical system: the inverted pendulum. Six subjects volunteered to participate and were tested in four different days performing the same task but experiencing different mechanical systems (pendulum) characterized by lower or higher dynamics due to the possibility to tune the stiffness of the pendulum. Subjects were asked to balance the inverted pendulum maintaining it in a vertical position for a required amount of time. It was found the adopted stabilization strategy was mainly characterized by using only one of the 2 available DoFs of their wrist when the pendulum was stiffer, while in case of lower stiffness of the pendulum (slower dynamic) wrist input redundancy was a more suitable strategy to perform the balancing task.
DOI: 10.1109/IEMBS.2010.5627438
PubMed: 21096858
Affiliations:
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Burdet</name></author><author><name sortKey="Sandini, G" sort="Sandini, G" uniqKey="Sandini G" first="G" last="Sandini">G. Sandini</name></author><author><name sortKey="Morasso, P" sort="Morasso, P" uniqKey="Morasso P" first="P" last="Morasso">P. Morasso</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2010">2010</date><idno type="doi">10.1109/IEMBS.2010.5627438</idno><idno type="RBID">pubmed:21096858</idno><idno type="pmid">21096858</idno><idno type="wicri:Area/PubMed/Corpus">001003</idno><idno type="wicri:Area/PubMed/Curation">001003</idno><idno type="wicri:Area/PubMed/Checkpoint">000E79</idno><idno type="wicri:Area/Ncbi/Merge">001776</idno><idno type="wicri:Area/Ncbi/Curation">001776</idno><idno type="wicri:Area/Ncbi/Checkpoint">001776</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Stabilizing unstable object by means of kinematic redundancy.</title><author><name sortKey="Masia, L" sort="Masia, L" uniqKey="Masia L" first="L" last="Masia">L. Masia</name><affiliation wicri:level="1"><nlm:affiliation>Robotics Brain and Cognitive Sciences Dept., Italian Institute of Technology, Genoa, Italy. lorenzo.massia@itt.it</nlm:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>Robotics Brain and Cognitive Sciences Dept., Italian Institute of Technology, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation></author><author><name sortKey="Squeri, V" sort="Squeri, V" uniqKey="Squeri V" first="V" last="Squeri">V. Squeri</name></author><author><name sortKey="Saha, D" sort="Saha, D" uniqKey="Saha D" first="D" last="Saha">D. Saha</name></author><author><name sortKey="Burdet, E" sort="Burdet, E" uniqKey="Burdet E" first="E" last="Burdet">E. Burdet</name></author><author><name sortKey="Sandini, G" sort="Sandini, G" uniqKey="Sandini G" first="G" last="Sandini">G. Sandini</name></author><author><name sortKey="Morasso, P" sort="Morasso, P" uniqKey="Morasso P" first="P" last="Morasso">P. Morasso</name></author></analytic><series><title level="j">Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference</title><idno type="ISSN">1557-170X</idno><imprint><date when="2010" type="published">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biofeedback, Psychology (methods)</term><term>Biofeedback, Psychology (physiology)</term><term>Computer Simulation</term><term>Humans</term><term>Models, Biological</term><term>Movement (physiology)</term><term>Postural Balance (physiology)</term><term>Psychomotor Performance (physiology)</term><term>Wrist Joint (physiology)</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Biofeedback, Psychology</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Biofeedback, Psychology</term><term>Movement</term><term>Postural Balance</term><term>Psychomotor Performance</term><term>Wrist Joint</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Computer Simulation</term><term>Humans</term><term>Models, Biological</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The paper aims to investigate how humans deal with unstable objects under the possibility of choosing different strategy of interaction. The presented task consisted in balancing a 1 degree of freedom (DoF) elastic inverted pendulum by means of 2 DoF of the wrist (fexion/extension and pronation/supination). The pendulum was simulated using a virtual environment and the haptic feedback was generated by a robotic wrist device. The task is a redundant because the subject can choose how to use the 2 DoF in order to move and stabilize a 1 DoF simulated mechanical system: the inverted pendulum. Six subjects volunteered to participate and were tested in four different days performing the same task but experiencing different mechanical systems (pendulum) characterized by lower or higher dynamics due to the possibility to tune the stiffness of the pendulum. Subjects were asked to balance the inverted pendulum maintaining it in a vertical position for a required amount of time. It was found the adopted stabilization strategy was mainly characterized by using only one of the 2 available DoFs of their wrist when the pendulum was stiffer, while in case of lower stiffness of the pendulum (slower dynamic) wrist input redundancy was a more suitable strategy to perform the balancing task.</div></front></TEI><affiliations><list><country><li>Italie</li></country></list><tree><noCountry><name sortKey="Burdet, E" sort="Burdet, E" uniqKey="Burdet E" first="E" last="Burdet">E. Burdet</name><name sortKey="Morasso, P" sort="Morasso, P" uniqKey="Morasso P" first="P" last="Morasso">P. Morasso</name><name sortKey="Saha, D" sort="Saha, D" uniqKey="Saha D" first="D" last="Saha">D. Saha</name><name sortKey="Sandini, G" sort="Sandini, G" uniqKey="Sandini G" first="G" last="Sandini">G. Sandini</name><name sortKey="Squeri, V" sort="Squeri, V" uniqKey="Squeri V" first="V" last="Squeri">V. Squeri</name></noCountry><country name="Italie"><noRegion><name sortKey="Masia, L" sort="Masia, L" uniqKey="Masia L" first="L" last="Masia">L. Masia</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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