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 conferenceObject |
URI: | wscg.zcu.cz/WSCG2016/!!_CSRN-2602.pdf http://hdl.handle.net/11025/29700 |
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 |
Files in This Item:
File | Description | Size | Format | |
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Goncharenko.pdf | Plný text | 809,71 kB | Adobe PDF | View/Open |
Please use this identifier to cite or link to this item:
http://hdl.handle.net/11025/29700
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