Multijoint arm control: beyond reaching

Author

Mussa-Ivaldi, F.A. ; Patton, J.L. ; Chib, V. ; Sha, D. ; Mah, C.D. ; Dingwell, J.B.

Author_Institution

Dept. of Biomed. Eng., Northwestern Univ., Chicago, IL, USA

Volume

2

fYear

2003

fDate

17-21 Sept. 2003

Firstpage

1452

Abstract

We present a set of recent results on the control of movements in which the hand interacts with force fields that simulate the presence of dynamical objects and of surface boundaries. These experiments exploit the possibility of using human/robot interactions for exploring if and how the smoothness is enforced by the adaptive control system. We conclude that a) subjects learn to generate smooth motion of transported objects and that b) significant exceptions to smooth motions are observed in hand movements over curved boundaries.

Keywords

adaptive control; biomechanics; bone; medical robotics; position control; adaptive control system; contact force field; curved boundaries; human-robot interactions; multijoint arm movement control; transported objects smooth motion; Adaptive control; Biomedical engineering; Boundary conditions; Control engineering education; Educational programs; Force control; Humans; Motion control; Organizing; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2003. Proceedings of the 25th Annual International Conference of the IEEE

ISSN

1094-687X

Print_ISBN

0-7803-7789-3

Type

conf

DOI

10.1109/IEMBS.2003.1279603

Filename

1279603