HapticV1, Main, Exploration, bibRecordById, PMC:4498565

Robot-amplified manual exploration improves load identification

Identifieur interne : 004086 ( Main/Exploration ); précédent : 004085; suivant : 004087

Robot-amplified manual exploration improves load identification

Auteurs : F. C. Huang ; J. L. Patton ; F. A. Mussa-Ivaldi

Source :

IFMBE proceedings [ 1680-0737 ] ; 2009.

RBID : PMC:4498565

Abstract

We tested how manual exploration with anisotropic loading (Viscosity-Only (negative), Inertia-Only, or Combined-Load) influenced skill transfer to the isolated inertial load. Intact subjects (N=39) performed manual exploration with an anisotropic load before evaluation with prescribed circular movements. Combined-Load resulted in lower error (6.89±3.25%) compared to Inertia-Only (8.40±4.32%) and Viscosity-Only (8.17±4.13%) according to radial deviation analysis (% of trial mean radius). An analysis of sensitivity to load variation in normal and catch trials reveals performance differences were likely due to changes in feedforward mass compensation. Analysis of exploration movement revealed higher average speeds (12.0%) and endpoint forces (22.9%) with Combined-Load exploration compared to Inertia-Only. Our findings suggest that free movements amplified by negative viscosity can enhance the ability to identify changes in inertial loading.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4498565

DOI: 10.1007/978-3-642-03889-1_90
PubMed: 26167170
PubMed Central: 4498565

Affiliations:

Le document en format XML

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<author><name sortKey="Huang, F C" sort="Huang, F C" uniqKey="Huang F" first="F. C." last="Huang">F. C. Huang</name>
<affiliation><nlm:aff id="A1">Sensory Motor Performance Program, Rehabilitation Institute of Chicago</nlm:aff>
<wicri:noCountry code="subfield">Rehabilitation Institute of Chicago</wicri:noCountry>
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<author><name sortKey="Patton, J L" sort="Patton, J L" uniqKey="Patton J" first="J. L." last="Patton">J. L. Patton</name>
<affiliation><nlm:aff id="A2">Bioengineering, University of Illinois at Chicago</nlm:aff>
<wicri:noCountry code="subfield">University of Illinois at Chicago</wicri:noCountry>
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<author><name sortKey="Mussa Ivaldi, F A" sort="Mussa Ivaldi, F A" uniqKey="Mussa Ivaldi F" first="F. A." last="Mussa-Ivaldi">F. A. Mussa-Ivaldi</name>
<affiliation><nlm:aff id="A3">Physical Medicine and Rehabilitation, Mechanical and Biomedical Engineering, Northwestern University</nlm:aff>
<wicri:noCountry code="subfield">Northwestern University</wicri:noCountry>
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<front><div type="abstract" xml:lang="en"><p id="P1">We tested how manual exploration with anisotropic loading (<italic>Viscosity-Only</italic>
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) influenced skill transfer to the isolated inertial load. Intact subjects (N=39) performed manual exploration with an anisotropic load before evaluation with prescribed circular movements. Combined-Load resulted in lower error (6.89±3.25%) compared to Inertia-Only (8.40±4.32%) and Viscosity-Only (8.17±4.13%) according to radial deviation analysis (% of trial mean radius). An analysis of sensitivity to load variation in normal and catch trials reveals performance differences were likely due to changes in feedforward mass compensation. Analysis of exploration movement revealed higher average speeds (12.0%) and endpoint forces (22.9%) with <italic>Combined-Load</italic>
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Serveur d'exploration sur les dispositifs haptiques

Robot-amplified manual exploration improves load identification

Robot-amplified manual exploration improves load identification

Source :

Abstract

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