NDLI: The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements

Content Provider	IEEE Xplore Digital Library
Author	Zhi Li Roldan, J.R. Milutinovic, D. Rosen, J.
Copyright Year	2013
Description	Author affiliation: Dept. of Comput. Eng., Univ. of California, Santa Cruz, Santa Cruz, CA, USA (Zhi Li; Roldan, J.R.; Rosen, J.) \|\| Dept. of Appl. Math. & Stat., Univ. of California, Santa Cruz, Santa Cruz, CA, USA (Milutinovic, D.)
Abstract	The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehabilitation. Experiments performed on ten healthy subjects have shown that when reaching from one point to another, the human arm rotates around an axis going through the shoulder. The proposed redundancy resolution based on the direction of the axis can predict the arm posture with a higher accuracy comparing to a redundancy resolution that maximizes the motion efficiency. It is also shown that for reaching movements in the comfortable arm motion range, the directions of the axis are constrained by a linear model.
Starting Page	2507
Ending Page	2510
File Size	635108
Page Count	4
File Format	PDF
ISBN	9781457702167
ISSN	1557170X
DOI	10.1109/EMBC.2013.6610049
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Redundancy Shoulder Vectors Random access memory Elbow Kinematics Wrist
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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