Characterization of Joint-Interpolated Arm Movements

dc.creator	Hollerbach, John M.
dc.creator	Atkeson, Christopher G.
dc.date	2004-10-01T20:10:39Z
dc.date	2004-10-01T20:10:39Z
dc.date	1985-06-01
dc.date.accessioned	2013-10-09T02:40:15Z
dc.date.available	2013-10-09T02:40:15Z
dc.date.issued	2013-10-09
dc.identifier	AIM-849
dc.identifier	http://hdl.handle.net/1721.1/5605
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of data has appeared that indicated straight-line trajectories in both hand space and joint space at the same time. To assist in distinguishing between these viewpoints applied to the same data, we have theoretically characterized the set of trajectories derivable from a joint based planning strategy and have compared them to experimental measurements. We conclude that the apparent straight-lines in joint space happen to be artifacts of movement kinematics near the workspace boundary.
dc.format	19 p.
dc.format	2612602 bytes
dc.format	2029961 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-849
dc.subject	arm control
dc.subject	kinematics
dc.subject	trajectory planning
dc.title	Characterization of Joint-Interpolated Arm Movements

Files in this item

Files	Size	Format	View
There are no files associated with this item.