Minimum jerk trajectory control for rehabilitation and haptic applications
Identifieur interne :
001043 ( PascalFrancis/Corpus );
précédent :
001042;
suivant :
001044
Minimum jerk trajectory control for rehabilitation and haptic applications
Auteurs : Farshid Amirabdollahian ;
Rui Loureiro ;
William HarwinSource :
-
Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.
RBID : Pascal:04-0202251
Descripteurs français
- Pascal (Inist)
- Commande mouvement,
Homme,
Robotique,
Réadaptation physique,
Réhabilitation,
Sensibilité tactile,
Trajectoire,
Interaction,
Interface utilisateur,
Bras,
Membre supérieur,
Armement,
Modélisation.
English descriptors
- KwdEn :
- Arm,
Armament,
Human,
Interaction,
Modeling,
Motion control,
Physical rehabilitation,
Rehabilitation,
Robotics,
Tactile sensitivity,
Trajectory,
Upper limb,
User interface.
Abstract
Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 1050-4729 |
|---|
| A08 | 01 | 1 | ENG | @1 Minimum jerk trajectory control for rehabilitation and haptic applications |
|---|
| A09 | 01 | 1 | ENG | @1 Robotics and automation : Washington DC, 11-15 May 2002 |
|---|
| A11 | 01 | 1 | | @1 AMIRABDOLLAHIAN (Farshid) |
|---|
| A11 | 02 | 1 | | @1 LOUREIRO (Rui) |
|---|
| A11 | 03 | 1 | | @1 HARWIN (William) |
|---|
| A14 | 01 | | | @1 HRIL-the Human Robot Interface Laboratory, Department of Cybernetics, The University of Reading WhiteKnights, PO Box 225 @2 Reading, RG6 6AY @3 GBR @Z 1 aut. @Z 2 aut. @Z 3 aut. |
|---|
| A18 | 01 | 1 | | @1 IEEE Robotics and Automatic Society @3 USA @9 patr. |
|---|
| A20 | | | | @1 3380-3385 |
|---|
| A21 | | | | @1 2002 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 0-7803-7272-7 |
|---|
| A43 | 01 | | | @1 INIST @2 Y 37947 @5 354000117766645350 |
|---|
| A44 | | | | @0 0000 @1 © 2004 INIST-CNRS. All rights reserved. |
|---|
| A45 | | | | @0 11 ref. |
|---|
| A47 | 01 | 1 | | @0 04-0202251 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
|---|
| A64 | 01 | 1 | | @0 Proceedings - IEEE International Conference on Robotics and Automation |
|---|
| A66 | 01 | | | @0 USA |
|---|
| C01 | 01 | | ENG | @0 Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes. |
|---|
| C02 | 01 | X | | @0 001D02D11 |
|---|
| C03 | 01 | X | FRE | @0 Commande mouvement @5 09 |
|---|
| C03 | 01 | X | ENG | @0 Motion control @5 09 |
|---|
| C03 | 01 | X | SPA | @0 Control movimiento @5 09 |
|---|
| C03 | 02 | X | FRE | @0 Homme @5 10 |
|---|
| C03 | 02 | X | ENG | @0 Human @5 10 |
|---|
| C03 | 02 | X | SPA | @0 Hombre @5 10 |
|---|
| C03 | 03 | X | FRE | @0 Robotique @5 11 |
|---|
| C03 | 03 | X | ENG | @0 Robotics @5 11 |
|---|
| C03 | 03 | X | SPA | @0 Robótica @5 11 |
|---|
| C03 | 04 | X | FRE | @0 Réadaptation physique @5 18 |
|---|
| C03 | 04 | X | ENG | @0 Physical rehabilitation @5 18 |
|---|
| C03 | 04 | X | SPA | @0 Readaptación física @5 18 |
|---|
| C03 | 05 | X | FRE | @0 Réhabilitation @5 19 |
|---|
| C03 | 05 | X | ENG | @0 Rehabilitation @5 19 |
|---|
| C03 | 05 | X | SPA | @0 Rehabilitación @5 19 |
|---|
| C03 | 06 | X | FRE | @0 Sensibilité tactile @5 20 |
|---|
| C03 | 06 | X | ENG | @0 Tactile sensitivity @5 20 |
|---|
| C03 | 06 | X | SPA | @0 Sensibilidad tactil @5 20 |
|---|
| C03 | 07 | X | FRE | @0 Trajectoire @5 21 |
|---|
| C03 | 07 | X | ENG | @0 Trajectory @5 21 |
|---|
| C03 | 07 | X | SPA | @0 Trayectoria @5 21 |
|---|
| C03 | 08 | X | FRE | @0 Interaction @5 22 |
|---|
| C03 | 08 | X | ENG | @0 Interaction @5 22 |
|---|
| C03 | 08 | X | SPA | @0 Interacción @5 22 |
|---|
| C03 | 09 | X | FRE | @0 Interface utilisateur @5 23 |
|---|
| C03 | 09 | X | ENG | @0 User interface @5 23 |
|---|
| C03 | 09 | X | SPA | @0 Interfase usuario @5 23 |
|---|
| C03 | 10 | X | FRE | @0 Bras @5 24 |
|---|
| C03 | 10 | X | ENG | @0 Arm @5 24 |
|---|
| C03 | 10 | X | SPA | @0 Brazo @5 24 |
|---|
| C03 | 11 | X | FRE | @0 Membre supérieur @5 25 |
|---|
| C03 | 11 | X | ENG | @0 Upper limb @5 25 |
|---|
| C03 | 11 | X | SPA | @0 Miembro superior @5 25 |
|---|
| C03 | 12 | X | FRE | @0 Armement @5 26 |
|---|
| C03 | 12 | X | ENG | @0 Armament @5 26 |
|---|
| C03 | 12 | X | SPA | @0 Armamento @5 26 |
|---|
| C03 | 13 | X | FRE | @0 Modélisation @5 28 |
|---|
| C03 | 13 | X | ENG | @0 Modeling @5 28 |
|---|
| C03 | 13 | X | SPA | @0 Modelización @5 28 |
|---|
| N21 | | | | @1 138 |
|---|
| N82 | | | | @1 OTO |
|---|
|
|---|
| pR |
| A30 | 01 | 1 | ENG | @1 IEEE international conference on robotics and automation @3 Washington DC USA @4 2002-05-11 |
|---|
|
|---|
Format Inist (serveur)
| NO : | PASCAL 04-0202251 INIST |
|---|
| ET : | Minimum jerk trajectory control for rehabilitation and haptic applications |
|---|
| AU : | AMIRABDOLLAHIAN (Farshid); LOUREIRO (Rui); HARWIN (William) |
|---|
| AF : | HRIL-the Human Robot Interface Laboratory, Department of Cybernetics, The University of Reading WhiteKnights, PO Box 225/Reading, RG6 6AY/Royaume-Uni (1 aut., 2 aut., 3 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | Proceedings - IEEE International Conference on Robotics and Automation; ISSN 1050-4729; Etats-Unis; Da. 2002; Pp. 3380-3385; Bibl. 11 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes. |
|---|
| CC : | 001D02D11 |
|---|
| FD : | Commande mouvement; Homme; Robotique; Réadaptation physique; Réhabilitation; Sensibilité tactile; Trajectoire; Interaction; Interface utilisateur; Bras; Membre supérieur; Armement; Modélisation |
|---|
| ED : | Motion control; Human; Robotics; Physical rehabilitation; Rehabilitation; Tactile sensitivity; Trajectory; Interaction; User interface; Arm; Upper limb; Armament; Modeling |
|---|
| SD : | Control movimiento; Hombre; Robótica; Readaptación física; Rehabilitación; Sensibilidad tactil; Trayectoria; Interacción; Interfase usuario; Brazo; Miembro superior; Armamento; Modelización |
|---|
| LO : | INIST-Y 37947.354000117766645350 |
|---|
| ID : | 04-0202251 |
|---|
Links to Exploration step
Pascal:04-0202251
Le document en format XML
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<term>Modeling</term>
<term>Motion control</term>
<term>Physical rehabilitation</term>
<term>Rehabilitation</term>
<term>Robotics</term>
<term>Tactile sensitivity</term>
<term>Trajectory</term>
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<term>User interface</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Commande mouvement</term>
<term>Homme</term>
<term>Robotique</term>
<term>Réadaptation physique</term>
<term>Réhabilitation</term>
<term>Sensibilité tactile</term>
<term>Trajectoire</term>
<term>Interaction</term>
<term>Interface utilisateur</term>
<term>Bras</term>
<term>Membre supérieur</term>
<term>Armement</term>
<term>Modélisation</term>
</keywords><front><div type="abstract" xml:lang="en">Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.</div>
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<s5>10</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Hombre</s0>
<s5>10</s5>
</fC03><fC03 i1="03" i2="X" l="FRE"><s0>Robotique</s0>
<s5>11</s5>
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<s5>18</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Réhabilitation</s0>
<s5>19</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Rehabilitation</s0>
<s5>19</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Rehabilitación</s0>
<s5>19</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>20</s5>
</fC03><fC03 i1="06" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>20</s5>
</fC03><fC03 i1="06" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>20</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Trajectoire</s0>
<s5>21</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Trajectory</s0>
<s5>21</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Trayectoria</s0>
<s5>21</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Interaction</s0>
<s5>22</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Interaction</s0>
<s5>22</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Interacción</s0>
<s5>22</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>23</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>User interface</s0>
<s5>23</s5>
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<s5>23</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Bras</s0>
<s5>24</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Arm</s0>
<s5>24</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Brazo</s0>
<s5>24</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Membre supérieur</s0>
<s5>25</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Upper limb</s0>
<s5>25</s5>
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<s5>26</s5>
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<s5>26</s5>
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<s5>26</s5>
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<s5>28</s5>
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<s5>28</s5>
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</fN21><fN82><s1>OTO</s1>
</fN82><pR><fA30 i1="01" i2="1" l="ENG"><s1>IEEE international conference on robotics and automation</s1>
<s3>Washington DC USA</s3>
<s4>2002-05-11</s4>
</fA30><server><NO>PASCAL 04-0202251 INIST</NO>
<ET>Minimum jerk trajectory control for rehabilitation and haptic applications</ET>
<AU>AMIRABDOLLAHIAN (Farshid); LOUREIRO (Rui); HARWIN (William)</AU>
<AF>HRIL-the Human Robot Interface Laboratory, Department of Cybernetics, The University of Reading WhiteKnights, PO Box 225/Reading, RG6 6AY/Royaume-Uni (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Proceedings - IEEE International Conference on Robotics and Automation; ISSN 1050-4729; Etats-Unis; Da. 2002; Pp. 3380-3385; Bibl. 11 ref.</SO>
<LA>Anglais</LA>
<EA>Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.</EA>
<CC>001D02D11</CC>
<FD>Commande mouvement; Homme; Robotique; Réadaptation physique; Réhabilitation; Sensibilité tactile; Trajectoire; Interaction; Interface utilisateur; Bras; Membre supérieur; Armement; Modélisation</FD>
<ED>Motion control; Human; Robotics; Physical rehabilitation; Rehabilitation; Tactile sensitivity; Trajectory; Interaction; User interface; Arm; Upper limb; Armament; Modeling</ED>
<SD>Control movimiento; Hombre; Robótica; Readaptación física; Rehabilitación; Sensibilidad tactil; Trayectoria; Interacción; Interfase usuario; Brazo; Miembro superior; Armamento; Modelización</SD>
<LO>INIST-Y 37947.354000117766645350</LO>
<ID>04-0202251</ID>
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