Resolution of human arm redundancy in point tasks by synthesizing two criteria
Journal Title: International Journal of Modern Engineering Research (IJMER) - Year 2014, Vol 4, Issue 6
Abstract
The human arm is kinematically redundant in the task of pointing. As a result, multiple arm configurations can be used to complete a pointing task in which the tip of the index finger is brought to a preselected point in a 3D space. The authors have developed a four degrees of freedom (DOF)model of the human arm with synthesis of two redundancy resolution criteria that were developed as an analytical tool for studying the positioning tasks. The two criteria were: (1) minimizing the angular joint displacement (Minimal Angular Displacement - MAD) and (2) averaging the limits of the shoulder joint range (Joint Range Availability - JRA). As part of the experimental protocol conducted with ten subjects, the kinematics of the human arm was acquired with a motion capturing system in a 3D space. The redundant joint angles predicted by a equally weighted model synthesizing the MAD and JRA criteria resulted with a linear correlation with the experimental data (slope=0.88; offset=1⁰; r 2=0.52). Given the experiment protocol, individual criterion showed weaker correlation with experimental data (MAD slope=0.57, offset=14⁰, r2=0.36 or JRA slope=0.84, offset=-1⁰, r2=0.45). Solving the inverse kinematics problem of articulated redundant serials mechanism such as a human or a robotic arm has applications in fields of human-robot interaction and wearable robotics, ergonomics, and computer graphics animation.
Authors and Affiliations
Kashi Barak, Li Zhi, Rosen Jacob, Avrahami Idit, Brand Moshe
Keywords
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