NDLI: Synthesizing two criteria for redundancy resolution of human arm in point tasks

Content Provider	IEEE Xplore Digital Library
Author	Kashi, B. Brand, M. Rosen, J. Avrahami, I.
Copyright Year	2011
Description	Author affiliation: Department of Computer Engineering, University of California Santa Cruz, 95060, USA (Brand, M.) \|\| Dept. of Mechanical Engineering and Mechatronics, Ariel University center of Samaria, Israel (Rosen, J.; Avrahami, I.) \|\| School of Mechanical Engineering, Tel-Aviv University, Ramat-Aviv, Israel (Kashi, B.)
Abstract	The human arm may be considered to be a redundant mechanism given a pointing task. 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 space. A kinematic model of the human arm with four degrees of freedom (DOF) and the synthesis of two criteria were developed as an analytical tool for studying position tasks. The two criteria were: (1) minimizing angular joint displacement (Minimal Angular Displacement (MAD)) and (2) averaging limits of the shoulder joint range (Joint Range Availability (JRA)). Joint angles predicted by a weighted model synthesizing the MAD and JRA models was linearly correlated (slope=0.97; $r^{2}=0.81)$ with experimental data compared to individual criteria (MAD slope=0.76; $r^{2}=0.67$ or JRA slope=1; $r^{2}=0.56).$ The partial contributions to the synthesized criterion were 70% MAD and 30% JRA. Solving the inverse kinematics problem of articulated redundant serials mechanism such as the human or robotic arm has applications in fields of human-robot interaction and wearable robotics, ergonomics, and computer graphics animation.
Starting Page	63
Ending Page	68
File Size	680063
Page Count	6
File Format	PDF
ISBN	9781457711220
e-ISBN	9781457711244
DOI	10.1109/NaBIC.2011.6089418
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-19
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Correlation Biological system modeling Redundancy Humans Shoulder Kinematics Predictive models Joints Elbow Human arm Optimization Pointing task
Content Type	Text
Resource Type	Article

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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
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