Title: A haptic simulator for studying rest-to-rest reaching movements in dynamic environments
Authors: Goncharenko, Igor
Svinin, Mikhail
Citation: WSCG '2016: short communications proceedings: The 24th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2016 in co-operation with EUROGRAPHICS: University of West Bohemia, Plzen, Czech RepublicMay 30 - June 3 2016, p. 163-171.
Issue Date: 2016
Publisher: Václav Skala - UNION Agency
Document type: konferenční příspěvek
URI: wscg.zcu.cz/WSCG2016/!!_CSRN-2602.pdf
ISBN: 978-80-86943-58-9
ISSN: 2464-4617
Keywords: haptické rozhraní;odpočinkový pohyb;dynamické prostředí;optimálnost
Keywords in different language: haptic interface;rest-to-rest movement;dynamic environment;optimality
Abstract: We present a haptic simulation system with interchangeable physical constraints for studying skillful human movements. The unified haptic interface easily links different physical models with 2D and 3D static spatial constraints and graphical content related to the models. The system was tested on a variety of reaching tasks performed by human subjects. In the experiments, we analyzed motions based on data recorded by a history unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles were compared for several cases of basic reaching rest-to- rest tasks, namely, line-constrained movement during transport of flexible object and parallel flexible object. Experimental patterns exhibit a good agreement with theoretical optimal control models based on jerk and force-change minimization criteria.
Rights: © Václav Skala - UNION Agency
Appears in Collections:WSCG '2016: Short Papers Proceedings

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Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/29700

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