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2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06)
Analysis of Spatially Constrained Reaching Movements in Haptic Environments
Alexandria, Virginia
March 25-March 29
ISBN: 1-4244-0226-3
ASCII Text
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Igor Goncharenko, Yutaka Kanou, Mikhail Svinin, Shigeyuki Hosoe, "Analysis of Spatially Constrained Reaching Movements in Haptic Environments," Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on, pp. 62, 2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06), 2006.
 
 
BibTex
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@article{ 10.1109/VR.2006.26,
author = {Igor Goncharenko and Yutaka Kanou and Mikhail Svinin and Shigeyuki Hosoe},
title = {Analysis of Spatially Constrained Reaching Movements in Haptic Environments},
journal ={Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on},
volume = {0},
year = {2006},
isbn = {1-4244-0226-3},
pages = {62},
doi = {http://doi.ieeecomputersociety.org/10.1109/VR.2006.26},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
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TY - CONF
JO - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
TI - Analysis of Spatially Constrained Reaching Movements in Haptic Environments
SN - 1-4244-0226-3
SP
EP
A1 - Igor Goncharenko,
A1 - Yutaka Kanou,
A1 - Mikhail Svinin,
A1 - Shigeyuki Hosoe,
PY - 2006
KW - haptic I/O
KW - control theory
KW - kinematics and dynamics
VL - 0
JA - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
ER -
 
Igor Goncharenko, 3D Incorporated,Japan
Yutaka Kanou, 3D Incorporated,Japan
Mikhail Svinin, Bio-Mimetic Control Research Center,RIKEN, Japan
Shigeyuki Hosoe, Bio-Mimetic Control Research Center,RIKEN, Japan
A distributed system with interchangeable constraints for studying skillful human movements via haptic displays is presented. A unified interface provides easy linking of various physical models with 2D and 3D static spatial constraints, and the graphical contents related to the models as well. The motion analysis is based on the data recorded by system?s History Unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles are compared for several cases of basic reaching rest-to-rest tasks: curve-constrained motions with different curvatures, flexible object control, and cooperative twoarm movements. The experimental patterns exhibit the best agreement with the optimal control models based on jerk and force-change minimization criteria.
Index Terms:
haptic I/O, control theory, kinematics and dynamics
Citation:
Igor Goncharenko, Yutaka Kanou, Mikhail Svinin, Shigeyuki Hosoe, "Analysis of Spatially Constrained Reaching Movements in Haptic Environments," haptics, pp.62, 2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06), 2006
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