The Community for Technology Leaders
RSS Icon
Issue No.03 - Third Quarter (2012 vol.5)
pp: 231-239
Lorenzo Masia , Istituto Italiano di Tecnologia, Genoa
Valentina Squeri , Istituto Italiano di Tecnologia, Genoa
Etienne Burdet , Imperial College London, London
Giulio Sandini , Istituto Italiano di Tecnologia, Genoa
Pietro Morasso , Istituto Italiano di Tecnologia, Genoa
We investigated how the control of a compliant object is realized by the redundancy of wrist anatomy. Subjects had to balance a one degree-of-freedom inverted pendulum using elastic linkages controlled by wrist flexion/extension (FE) and forearm pronation/supination (PS). Haptic feedback of the interaction forces between the pendulum and the wrist was provided by a robotic interface. By tuning the mechanical properties of the virtual pendulum and the stiffness of the elastic linkages it was possible to study various dynamical regimes of the simulated object. Twenty subjects (divided in two groups) were tested in four days performing the same task but with different presentation order. The stabilization strategy adopted by the subjects was characterized by primarily using the PS DoF when the pendulum was linked to stiff springs and characterized by a relatively fast dynamic response; in contrast, the stabilization task was shared by both DoFs in case of lower spring stiffness and slower dynamics of the virtual object.
Wrist, Torque, Springs, Haptic interfaces, Iron, Oscillators, Damping, exoskeleton wrist haptic device., Redundant wrist control, unstable dynamics
Lorenzo Masia, Valentina Squeri, Etienne Burdet, Giulio Sandini, Pietro Morasso, "Wrist Coordination in a Kinematically Redundant Stabilization Task", IEEE Transactions on Haptics, vol.5, no. 3, pp. 231-239, Third Quarter 2012, doi:10.1109/TOH.2012.35
[1] N. Bernstein, The Co-Ordination and Regulation of Movements. Pergamon Press, 1967.
[2] S. Jaric and M.L. Latash, "Learning a Pointing Task with a Kinematically Redundant Limb: Emerging Synergies and Patterns of Final Position Variability," Human Movement Science, vol. 18, pp. 819-838, 1999.
[3] M.L. Latash, "There Is No Motor Redundancy in Human Movements. There Is Motor Abundance," Motor Control, vol. 4, pp. 257-259, 2000.
[4] M.L. Latash, J.P. Scholz, and G. Schöner, "Motor Control Strategies Revealed in the Structure of Motor Variability," Exercise and Sport Science Rev., vol. 30, pp. 26-31, 2002.
[5] T. Flash and N. Hogan, "The Coordination of Arm Movements: An Experimentally Confirmed Mathematical Model," vol. 5, no 7, pp. 1688-1703, July 1985.
[6] K.S. Ben-Itzhak and A. Karniel, "Minimum Acceleration Criterion with Constraints Implies Bang-Bang Control as An Underlying Principle for Optimal Trajectories of Arm Reaching Movements," Neural Computation, vol. 20, pp. 779-812, 2008.
[7] Y. Uno, M. Kawato, and R. Suzuki, "Formation and Control of Optimal Trajectory in Human Multijoint Arm Movement. Minimum Torque-Change Model," Biological Cybernetics, vol. 61, pp. 89-101, 1989.
[8] C.M. Harris and D.M. Wolpert, "Signal-Dependent Noise Determines Motor Planning," Nature, vol. 394, pp. 780-784, 1998.
[9] J.B. Dingwell, C.D. Mah, and F.A. Mussa-Ivaldi, "Experimentally Confirmed Mathematical Model for Human Control of a Non-Rigid Object," J. Neurophysiology, vol. 91, pp. 1158-1170, 2004.
[10] D.W. Franklin, E. Burdet, R. Osu, M. Kawato, and T.E. Milner, "Functional Significance of Stiffness in Adaptation of Multijoint Arm Movements to Stable and Unstable Environments," Experimental Brain Research, vol. 151, pp. 145-157, 2003.
[11] E. Guigon, P. Baraduc, and M. Desmurget, "Computational Motor Control: Redundancy and Invariance," J. Neurophysiology, vol. 97, no. 1, pp. 331-347, 2007.
[12] E. Todorov and M.I. Jordan, "Optimal Feedback Control as a Theory of Motor Coordination," Nature Neuroscience, vol. 5, pp. 1226-1235, 2002.
[13] G. Ganesh, M. Haruno, M. Kawato, and E. Burdet, "Motor Memory and Local Minimization of Error and Effort, Not Global Optimization, Determine Motor Behavior," J. Neurophysiology, vol. 104, pp. 382-390, 2010.
[14] D. Saha and P. Morasso, "Stabilization Strategies for Unstable Dynamics," PLOS One, vol. 7, no. 1, p. e30301, 2012.
[15] E. Todorov, "Optimality Principles in Sensorimotor Control," Nature Neuroscience, vol. 7, pp. 907-915, 2004.
[16] K. Friston, "What is Optimal About Motor Control?" Neuron, vol. 72, pp. 488-98, 2011.
[17] X. Liu and R.A. Scheidt, "Contributions of Online Visual Feedback to the Learning and Generalization of Novel Finger Coordination Patterns," J. Neurophysiology, vol. 99, pp. 2546-2557, 2008.
[18] C. Ghez, R.A. Scheidt, and H. Heijink, "Different Learned Coordinate Frames for Planning Trajectories and Final Positions in Reaching," J. Neurophysiology, vol. 98, pp. 3614-3626, 2007.
[19] K.M. Mosier, R.A. Scheidt, S. Acosta, and F.A. Mussa-Ivaldi, "Remapping Hand Movements in a Novel Geometrical Environment," J. Neurophysiology, vol. 94, pp. 4362-4372, 2005.
[20] L. Masia, M. Casadio, G. Sandini, and P. Morasso, "Eye-Hand Coordination During Dynamic Visuomotor Rotations," PLoS ONE, vol. 4, no. 9, p. E7004, 2009.
[21] G. Ganesh, M. Haruno, M. Kawato, and E. Burdet, "Motor Memory and Local Minimization of Error and Effort, Not Global Optimization, Determine Motor Behavior," J. Neurophysiology, vol. 104, pp. 382-390, 2010.
[22] M.L. Latash, J.F. Scholz, F. Danion, and G. Schöner, "Structure of Motor Variability in Marginally Redundant Multi-Finger Force Production Tasks," Experimental Brain Research, vol. 141, pp. 153-165, 2001.
[23] S. Li, F. Danion, M.L. Latash, Z.-M. Li, and V.M. Zatsiorsky, "Bilateral Deficit and Symmetry in Finger Force Production During Two-Hand Multi-Finger Tasks," Experimental Brain Research, vol. 141, pp. 530-540, 2001.
[24] J.P. Scholz, F. Danion, M.L. Latash, and G. Schöner, "Understanding Finger Coordination through Analysis of the Structure of Force Variability," Biological Cybernetics, vol. 86, pp. 29-39, 2002.
[25] Z.M. Li, M.L. Latash, K.M. Newell, and V.M. Zatsiorsky, "Motor Redundancy During Maximal Voluntary Contraction in Four-Finger Tasks," Experimental Brain Research, vol. 122, no 1, pp. 71-78, 1998.
[26] S. Misra, K.T. Ramesh, and A.M. Okamura, "Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review," Presence: Teleoperators and Virtual Environments, vol. 17, no. 5, pp. 463-491, 2008.
[27] J. Abbott, P. Marayong, and A.M. Okamura, "Haptic Virtual Fixtures for Robot-Assisted Manipulation," Robotics Research, vol. 28, pp. 49-64, 2007.
[28] I.D. Loram, S.M. Kelly, and M. Lakie, "Human Balancing of an Inverted Pendulum: Is Sway Size Controlled by Ankle Impedance?" The J. Physiology, vol. 532, pp. 879-891, 2001.
[29] I.D. Loram, H. Gollee, M. Lakie, and P.J. Gawthrop, "Human Control of an Inverted Pendulum: Is Continuous Control Necessary? Is Intermittent Control Effective? Is Intermittent Control Physiological?" J. Physiology, vol. 589, pp. 307-324, 2011.
[30] J.Z. Chew, S.C. Gandevia, and R.C. Fitzpatrick, "Postural Control at the Human Wrist," J. Physiology, vol. 586, no. 5, pp. 1265-1275, Mar. 2008.
[31] I.D. Loram, M.V. Lakie, and P.J. Gawthrop, "Visual Control of Stable and Unstable Loads: What Is the Feedback Delay and Extent of Linear Time-Invariant Control?" The J. Physiology, vol. 587, pp. 1343-1365, 2009.
[32] R.C. Fitzpatrick, J.L. Taylor, and D.I. McCloskey, "Ankle Stiffness of Standing Humans in Response to Imperceptible Perturbation: Reflex and Task-Dependent Components," J. Physiology, vol. 454, pp. 533-547, Aug. 1992.
[33] I.D. Loram, P.J. Gawthrop, and M. Lakie, "The Frequency of Human, Manual Adjustments in Balancing an Inverted Pendulum Is Constrained by Intrinsic Physiological Factors," J. Physiology, vol. 577, Pt 1, pp. 417-432, Nov. 2006.
[34] C.C. Gielen, J.C. Houk, S.L. Marcus, and L.E. Miller, "Viscoelastic Properties of the Wrist Motor Servo in Man," Annals Biomedical Eng., vol. 12, no. 6, pp. 599-620, 1984.
[35] D.R. Lametti and D.J. Ostry, "Postural Constraints on Movement Variability," J. Neurophysiology, vol. 104, no. 2, pp. 1061-1067, Aug. 2010.
[36] D.J. Slutsky and M. Herman, "Rehabilitation of Distal Radius Fractures: A Biomechanical Guide," Hand Clinics, vol. 21, pp. 455-468, 2005.
[37] F.C. Huang, F.A. Mussa-Ivaldi, C.M. Pugh, and J.L. Patton, "Learning Kinematic Constraints in Laparoscopic Surgery," IEEE Trans. Haptics, preprint, 14 Sept. 2011, doi:10.1109/TOH.2012.35.
[38] M. Wentink, P. Breedveld, L.P.S. Stassen, I.H. Oei, and P.A. Wieringa, "A Clearly Visible Endoscopic Instrument Shaft on the Monitor Facilitates Hand-Eye Coordination," Surgical Endoscopy, vol. 16, no. 11, pp. 1533-1537, 2002.
[39] B.P. DeJong, J.E. Colgate, and M.A. Peshkin, "Improving Teleoperation: Reducing Mental Rotations and Translations," Proc. IEEE Int'l Conf. Robotics and Automation New Orleans, 2004.
45 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool