KFU. Card publication. Motion planning strategies in human control of non-rigid objects with internal degrees of freedom

KAZAN
FEDERAL UNIVERSITY

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MOTION PLANNING STRATEGIES IN HUMAN CONTROL OF NON-RIGID OBJECTS WITH INTERNAL DEGREES OF FREEDOM

Form of presentation

Articles in international journals and collections

Year of publication

2019

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Svinin M. Motion planning strategies in human control of non-rigid objects with internal degrees of freedom / Goncharenko I., Kryssanov V., Magid E. // Human Movement Science. - 2019. - Vol.63. - p. 209-230.

Annotation

The paper deals with modeling of human-like reaching movements in dynamic environments. A simple but not trivial example of reaching in a dynamic environment is the rest-to-rest manipulation of a multi-mass flexible object with the elimination of residual vibrations. Two approaches to the prediction of reaching movements are formulated in position and force actuation settings. In the first approach, either the position of the hand or the hand force is specified by the lowest order polynomial satisfying the boundary conditions of the reaching task. The second approach is based on the minimization of either the hand jerk or the hand force-change, with taking into account the dynamics of the flexible object. To verify the resulting four mathematical models, an experiment on the manipulation of a ten-masses flexible object of low stiffness is conducted. The experimental results show that the second approach gives a significantly better prediction of human movements, with the minimum hand f

Keywords

Dynamic environment, Flexible object, Optimization models, Reaching movements, Trajectory planning

The name of the journal

Human Movement Science

URL

https://www.sciencedirect.com/science/article/pii/S0167945718305529

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=194269&p_lang=2

Resource files

File name	Size (MB)	Format
F_2019_Motion_planning_strategies_in_human_control_of_non_rigid_objects_with_internal_degrees_of_freedom.pdf	1,26	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Svinin M. Motion planning strategies in human control of non-rigid objects with internal degrees of freedom / Goncharenko I., Kryssanov V., Magid E. // Human Movement Science. - 2019. - Vol.63. - p. 209-230.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=194269&p_lang=2	ru_RU
dc.description.abstract	Human Movement Science	ru_RU
dc.description.abstract	The paper deals with modeling of human-like reaching movements in dynamic environments. A simple but not trivial example of reaching in a dynamic environment is the rest-to-rest manipulation of a multi-mass flexible object with the elimination of residual vibrations. Two approaches to the prediction of reaching movements are formulated in position and force actuation settings. In the first approach, either the position of the hand or the hand force is specified by the lowest order polynomial satisfying the boundary conditions of the reaching task. The second approach is based on the minimization of either the hand jerk or the hand force-change, with taking into account the dynamics of the flexible object. To verify the resulting four mathematical models, an experiment on the manipulation of a ten-masses flexible object of low stiffness is conducted. The experimental results show that the second approach gives a significantly better prediction of human movements, with the minimum hand f	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Dynamic environment	ru_RU
dc.subject	Flexible object	ru_RU
dc.subject	Optimization models	ru_RU
dc.subject	Reaching movements	ru_RU
dc.subject	Trajectory planning	ru_RU
dc.title	Motion planning strategies in human control of non-rigid objects with internal degrees of freedom	ru_RU
dc.type	Articles in international journals and collections	ru_RU