Pick to place trajectories in human arm training environment.
Identifieur interne : 001208 ( PubMed/Corpus ); précédent : 001207; suivant : 001209Pick to place trajectories in human arm training environment.
Auteurs : Jaka Ziherl ; Janez Podobnik ; Mario Sikic ; Marko MunihSource :
- Technology and health care : official journal of the European Society for Engineering and Medicine [ 0928-7329 ] ; 2009.
English descriptors
- KwdEn :
- MESH :
- physiology : Arm, Movement.
- physiopathology : Hemiplegia.
- rehabilitation : Hemiplegia.
- Adult, Algorithms, Biomechanical Phenomena, Equipment Design, Female, Humans, Robotics, Torque.
Abstract
This paper presents a new method of trajectory planning in rehabilitation robotics. First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths. This trajectory path serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping force an optional guidance force can be applied along the tunnel to reach the place point. The B-spline control points were observed around the robot and arm workspace. The trajectory path defined with B-splines is compared with minimum jerk and minimum torque defined trajectories. Finally are compared the pick to place movements with and without tunnel use in healthy subject and in stroke hemiplegic patient.
DOI: 10.3233/THC-2009-0543
PubMed: 19822948
Links to Exploration step
pubmed:19822948Le document en format XML
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First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths. This trajectory path serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping force an optional guidance force can be applied along the tunnel to reach the place point. The B-spline control points were observed around the robot and arm workspace. The trajectory path defined with B-splines is compared with minimum jerk and minimum torque defined trajectories. Finally are compared the pick to place movements with and without tunnel use in healthy subject and in stroke hemiplegic patient.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">19822948</PMID><DateCreated><Year>2009</Year><Month>10</Month><Day>13</Day></DateCreated><DateCompleted><Year>2009</Year><Month>12</Month><Day>23</Day></DateCompleted><DateRevised><Year>2013</Year><Month>11</Month><Day>21</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">0928-7329</ISSN><JournalIssue CitedMedium="Print"><Volume>17</Volume><Issue>4</Issue><PubDate><Year>2009</Year></PubDate></JournalIssue><Title>Technology and health care : official journal of the European Society for Engineering and Medicine</Title><ISOAbbreviation>Technol Health Care</ISOAbbreviation></Journal><ArticleTitle>Pick to place trajectories in human arm training environment.</ArticleTitle><Pagination><MedlinePgn>323-35</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.3233/THC-2009-0543</ELocationID><Abstract><AbstractText>This paper presents a new method of trajectory planning in rehabilitation robotics. First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths. This trajectory path serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping force an optional guidance force can be applied along the tunnel to reach the place point. The B-spline control points were observed around the robot and arm workspace. The trajectory path defined with B-splines is compared with minimum jerk and minimum torque defined trajectories. Finally are compared the pick to place movements with and without tunnel use in healthy subject and in stroke hemiplegic patient.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Ziherl</LastName><ForeName>Jaka</ForeName><Initials>J</Initials><AffiliationInfo><Affiliation>Laboratory of Robotics and Biomedical Engineering, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia. jaka.ziherl@robo.fe.uni-lj.si</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Podobnik</LastName><ForeName>Janez</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Sikic</LastName><ForeName>Mario</ForeName><Initials>M</Initials></Author><Author ValidYN="Y"><LastName>Munih</LastName><ForeName>Marko</ForeName><Initials>M</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>Netherlands</Country><MedlineTA>Technol Health Care</MedlineTA><NlmUniqueID>9314590</NlmUniqueID><ISSNLinking>0928-7329</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000328">Adult</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000465">Algorithms</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001132">Arm</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005260">Female</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006429">Hemiplegia</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000503">physiopathology</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000534">rehabilitation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009068">Movement</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D012371">Robotics</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019415">Torque</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2009</Year><Month>10</Month><Day>14</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2009</Year><Month>10</Month><Day>14</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2009</Year><Month>12</Month><Day>24</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pii">E7HXR6664361Q840</ArticleId><ArticleId IdType="doi">10.3233/THC-2009-0543</ArticleId><ArticleId IdType="pubmed">19822948</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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