On the dynamic version of the minimum hand jerk criterion
Identifieur interne : 002C56 ( Istex/Corpus ); précédent : 002C55; suivant : 002C57On the dynamic version of the minimum hand jerk criterion
Auteurs : Mikhail Svinin ; Yohei Masui ; Zhi Ei Luo ; Shigeyuki HosoeSource :
- Journal of Robotic Systems [ 0741-2223 ] ; 2005-11.
Abstract
This paper is concerned with the problem of trajectory formation of humanlike reaching movements. First, we review conventional criteria of optimality adopted in robotics and computational neuroscience for the prediction of reaching movements and formulate a dynamic version of the minimum hand jerk criteria. We call it a minimum driving force change criterion and check its performance for the free‐space movements. Next, we test the performance of the new criterion for the movements where the human hand is geometrically constrained by the external environment, and for the movements with flexible objects. The main feature of these movements is that the hand velocity profiles are not always bell shaped. Our simulations and initial experimental results show that the minimum driving force change criterion can roughly capture this feature and, therefore, can be a reasonable candidate for modeling of humanlike reaching movements. © 2005 Wiley Periodicals, Inc.
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DOI: 10.1002/rob.20091
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Robotic Syst.</title><idno type="ISSN">0741-2223</idno><idno type="eISSN">1097-4563</idno><imprint><publisher>Wiley Subscription Services, Inc., A Wiley Company</publisher><pubPlace>Hoboken</pubPlace><date type="published" when="2005-11">2005-11</date><biblScope unit="volume">22</biblScope><biblScope unit="issue">11</biblScope><biblScope unit="page" from="661">661</biblScope><biblScope unit="page" to="676">676</biblScope></imprint><idno type="ISSN">0741-2223</idno></series><idno type="istex">D6CC1120464792ED34EE935062DC030787E09F39</idno><idno type="DOI">10.1002/rob.20091</idno><idno type="ArticleID">ROB20091</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0741-2223</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper is concerned with the problem of trajectory formation of humanlike reaching movements. First, we review conventional criteria of optimality adopted in robotics and computational neuroscience for the prediction of reaching movements and formulate a dynamic version of the minimum hand jerk criteria. We call it a minimum driving force change criterion and check its performance for the free‐space movements. Next, we test the performance of the new criterion for the movements where the human hand is geometrically constrained by the external environment, and for the movements with flexible objects. The main feature of these movements is that the hand velocity profiles are not always bell shaped. 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First, we review conventional criteria of optimality adopted in robotics and computational neuroscience for the prediction of reaching movements and formulate a dynamic version of the minimum hand jerk criteria. We call it a minimum driving force change criterion and check its performance for the free‐space movements. Next, we test the performance of the new criterion for the movements where the human hand is geometrically constrained by the external environment, and for the movements with flexible objects. The main feature of these movements is that the hand velocity profiles are not always bell shaped. Our simulations and initial experimental results show that the minimum driving force change criterion can roughly capture this feature and, therefore, can be a reasonable candidate for modeling of humanlike reaching movements. © 2005 Wiley Periodicals, Inc.</abstract><relatedItem type="host"><titleInfo><title>Journal of Robotic Systems</title></titleInfo><titleInfo type="abbreviated"><title>J. Robotic Syst.</title></titleInfo><genre type="journal">journal</genre><identifier type="ISSN">0741-2223</identifier><identifier type="eISSN">1097-4563</identifier><identifier type="DOI">10.1002/(ISSN)1097-4563</identifier><identifier type="PublisherID">ROB</identifier><part><date>2005</date><detail type="volume"><caption>vol.</caption><number>22</number></detail><detail type="issue"><caption>no.</caption><number>11</number></detail><extent unit="pages"><start>661</start><end>676</end><total>16</total></extent></part></relatedItem><identifier type="istex">D6CC1120464792ED34EE935062DC030787E09F39</identifier><identifier type="DOI">10.1002/rob.20091</identifier><identifier type="ArticleID">ROB20091</identifier><accessCondition type="use and reproduction" contentType="copyright">Copyright © 2005 John Wiley & Sons, Inc.</accessCondition><recordInfo><recordContentSource>WILEY</recordContentSource><recordOrigin>Wiley Subscription Services, Inc., A Wiley Company</recordOrigin></recordInfo></mods></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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