Kinematic analysis and synthesis of the human arm motion during a manipulation task
Research in the field of human kinematic analysis has gained interest in recent years and has fostered new ideas and expectations. Next generation manipulators are expected to resemble a human-like behaviour at kinematic level, in order to avoid any unease or discomfort (like fear or shock) to the nearby humans. In this work, a kinematic experimental approach to study and synthesize the motion of the human arm is presented. In particular, the proposed scenario will be used to study how humans exploit the kinematic redundancy of their arms, for a future use in a robotic controller. A simple, yet accurate, method for human-like redundancy resolution in robotic manipulators is developed and verified.
Andrea Maria Zanchettin Paolo Rocco Luca Bascetta Ioannis Symeonidis Steffen Peldschus
Dipartimento di Elettronica e Informazione,Politecnico di Milano,Piazza L. Da Vinci 32,20133,Milano, Institute of Legal Medicine,Ludwig-Maximilians University,Nussbaumstrasse 26,80336,Munich,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2692-2697
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）