Modeling the human hand as it interacts with a telemanipulation system
Identifieur interne : 000E53 ( PascalFrancis/Corpus ); précédent : 000E52; suivant : 000E54Modeling the human hand as it interacts with a telemanipulation system
Auteurs : John E. Speich ; LIANG SHAO ; Michael GoldfarbSource :
- Mechatronics : (Oxford) [ 0957-4158 ] ; 2005.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
pA |
|
---|
Format Inist (serveur)
NO : | PASCAL 05-0437237 INIST |
---|---|
ET : | Modeling the human hand as it interacts with a telemanipulation system |
AU : | SPEICH (John E.); LIANG SHAO; GOLDFARB (Michael) |
AF : | Mechanical Engineering, Virginia Commonwealth University/Richmond, VA, 23284-3015/Etats-Unis (1 aut.); Mechanical Engineering, Vanderbilt University/Nashville, TN 37235-1592/Etats-Unis (2 aut., 3 aut.) |
DT : | Publication en série; Niveau analytique |
SO : | Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2005; Vol. 15; No. 9; Pp. 1127-1142; Bibl. 18 ref. |
LA : | Anglais |
EA : | This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement. |
CC : | 001D12 |
FD : | Homme; Téléopération; Main; Bras; Système masse ressort; Système 3 degrés liberté; Interface utilisateur; Système homme machine; Doigt; Modélisation; Système paramètre localisé; Méthode domaine fréquence; Ordre 2; Amortisseur; Etude expérimentale |
ED : | Human; Remote operation; Hand; Arm; Spring mass system; System with three degrees of freedom; User interface; Man machine system; Finger; Modeling; Lumped parameter system; Frequency domain method; Second order; Damper; Experimental study |
SD : | Hombre; Teleacción; Mano; Brazo; Sistema masa muelle; Sistema 3 grados libertad; Interfase usuario; Sistema hombre máquina; Dedo; Modelización; Sistema parámetro localizado; Método dominio frecuencia; Orden 2; Amortiguador; Estudio experimental |
LO : | INIST-22113.354000131791070070 |
ID : | 05-0437237 |
Links to Exploration step
Pascal:05-0437237Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Modeling the human hand as it interacts with a telemanipulation system</title>
<author><name sortKey="Speich, John E" sort="Speich, John E" uniqKey="Speich J" first="John E." last="Speich">John E. Speich</name>
<affiliation><inist:fA14 i1="01"><s1>Mechanical Engineering, Virginia Commonwealth University</s1>
<s2>Richmond, VA, 23284-3015</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Liang Shao" sort="Liang Shao" uniqKey="Liang Shao" last="Liang Shao">LIANG SHAO</name>
<affiliation><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Goldfarb, Michael" sort="Goldfarb, Michael" uniqKey="Goldfarb M" first="Michael" last="Goldfarb">Michael Goldfarb</name>
<affiliation><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">05-0437237</idno>
<date when="2005">2005</date>
<idno type="stanalyst">PASCAL 05-0437237 INIST</idno>
<idno type="RBID">Pascal:05-0437237</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000E53</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Modeling the human hand as it interacts with a telemanipulation system</title>
<author><name sortKey="Speich, John E" sort="Speich, John E" uniqKey="Speich J" first="John E." last="Speich">John E. Speich</name>
<affiliation><inist:fA14 i1="01"><s1>Mechanical Engineering, Virginia Commonwealth University</s1>
<s2>Richmond, VA, 23284-3015</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Liang Shao" sort="Liang Shao" uniqKey="Liang Shao" last="Liang Shao">LIANG SHAO</name>
<affiliation><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Goldfarb, Michael" sort="Goldfarb, Michael" uniqKey="Goldfarb M" first="Michael" last="Goldfarb">Michael Goldfarb</name>
<affiliation><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">Mechatronics : (Oxford)</title>
<title level="j" type="abbreviated">Mechatronics : (Oxf.)</title>
<idno type="ISSN">0957-4158</idno>
<imprint><date when="2005">2005</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">Mechatronics : (Oxford)</title>
<title level="j" type="abbreviated">Mechatronics : (Oxf.)</title>
<idno type="ISSN">0957-4158</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term>
<term>Damper</term>
<term>Experimental study</term>
<term>Finger</term>
<term>Frequency domain method</term>
<term>Hand</term>
<term>Human</term>
<term>Lumped parameter system</term>
<term>Man machine system</term>
<term>Modeling</term>
<term>Remote operation</term>
<term>Second order</term>
<term>Spring mass system</term>
<term>System with three degrees of freedom</term>
<term>User interface</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Homme</term>
<term>Téléopération</term>
<term>Main</term>
<term>Bras</term>
<term>Système masse ressort</term>
<term>Système 3 degrés liberté</term>
<term>Interface utilisateur</term>
<term>Système homme machine</term>
<term>Doigt</term>
<term>Modélisation</term>
<term>Système paramètre localisé</term>
<term>Méthode domaine fréquence</term>
<term>Ordre 2</term>
<term>Amortisseur</term>
<term>Etude expérimentale</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0957-4158</s0>
</fA01>
<fA03 i2="1"><s0>Mechatronics : (Oxf.)</s0>
</fA03>
<fA05><s2>15</s2>
</fA05>
<fA06><s2>9</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Modeling the human hand as it interacts with a telemanipulation system</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>SPEICH (John E.)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>LIANG SHAO</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>GOLDFARB (Michael)</s1>
</fA11>
<fA14 i1="01"><s1>Mechanical Engineering, Virginia Commonwealth University</s1>
<s2>Richmond, VA, 23284-3015</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
</fA14>
<fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</fA14>
<fA20><s1>1127-1142</s1>
</fA20>
<fA21><s1>2005</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>22113</s2>
<s5>354000131791070070</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2005 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>18 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>05-0437237</s0>
</fA47>
<fA60><s1>P</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i1="01" i2="1"><s0>Mechatronics : (Oxford)</s0>
</fA64>
<fA66 i1="01"><s0>GBR</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D12</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Homme</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Human</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Hombre</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Main</s0>
<s5>20</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Hand</s0>
<s5>20</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Mano</s0>
<s5>20</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Bras</s0>
<s5>21</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Arm</s0>
<s5>21</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Brazo</s0>
<s5>21</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Système masse ressort</s0>
<s5>22</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Spring mass system</s0>
<s5>22</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Sistema masa muelle</s0>
<s5>22</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Système 3 degrés liberté</s0>
<s5>23</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>System with three degrees of freedom</s0>
<s5>23</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Sistema 3 grados libertad</s0>
<s5>23</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>24</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>User interface</s0>
<s5>24</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>24</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Système homme machine</s0>
<s5>25</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Man machine system</s0>
<s5>25</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Sistema hombre máquina</s0>
<s5>25</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Doigt</s0>
<s5>26</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Finger</s0>
<s5>26</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Dedo</s0>
<s5>26</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>27</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Modeling</s0>
<s5>27</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Modelización</s0>
<s5>27</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Système paramètre localisé</s0>
<s5>28</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Lumped parameter system</s0>
<s5>28</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sistema parámetro localizado</s0>
<s5>28</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Méthode domaine fréquence</s0>
<s5>29</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Frequency domain method</s0>
<s5>29</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Método dominio frecuencia</s0>
<s5>29</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Ordre 2</s0>
<s5>30</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Second order</s0>
<s5>30</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Orden 2</s0>
<s5>30</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Amortisseur</s0>
<s5>33</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Damper</s0>
<s5>33</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Amortiguador</s0>
<s5>33</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>34</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>34</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>34</s5>
</fC03>
<fN21><s1>305</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 05-0437237 INIST</NO>
<ET>Modeling the human hand as it interacts with a telemanipulation system</ET>
<AU>SPEICH (John E.); LIANG SHAO; GOLDFARB (Michael)</AU>
<AF>Mechanical Engineering, Virginia Commonwealth University/Richmond, VA, 23284-3015/Etats-Unis (1 aut.); Mechanical Engineering, Vanderbilt University/Nashville, TN 37235-1592/Etats-Unis (2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2005; Vol. 15; No. 9; Pp. 1127-1142; Bibl. 18 ref.</SO>
<LA>Anglais</LA>
<EA>This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.</EA>
<CC>001D12</CC>
<FD>Homme; Téléopération; Main; Bras; Système masse ressort; Système 3 degrés liberté; Interface utilisateur; Système homme machine; Doigt; Modélisation; Système paramètre localisé; Méthode domaine fréquence; Ordre 2; Amortisseur; Etude expérimentale</FD>
<ED>Human; Remote operation; Hand; Arm; Spring mass system; System with three degrees of freedom; User interface; Man machine system; Finger; Modeling; Lumped parameter system; Frequency domain method; Second order; Damper; Experimental study</ED>
<SD>Hombre; Teleacción; Mano; Brazo; Sistema masa muelle; Sistema 3 grados libertad; Interfase usuario; Sistema hombre máquina; Dedo; Modelización; Sistema parámetro localizado; Método dominio frecuencia; Orden 2; Amortiguador; Estudio experimental</SD>
<LO>INIST-22113.354000131791070070</LO>
<ID>05-0437237</ID>
</server>
</inist>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000E53 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Corpus/biblio.hfd -nk 000E53 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= PascalFrancis |étape= Corpus |type= RBID |clé= Pascal:05-0437237 |texte= Modeling the human hand as it interacts with a telemanipulation system }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |