Application of robotic manipulability indices to evaluate thumb performance during smartphone touch operations

Endô, Hiroshi

doi:10.1080/00140139.2014.986222

Cited by 9 publications

(2 citation statements)

References 28 publications

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“…However, no study on upper limb considered the effect of gravity when using a manipulability model. [14] MFE, FP N Neuromuscular Control Endo, 2015 [15] MM, ME N Smartphone Touch Operations…”

Section: A Backgroundmentioning

confidence: 99%

Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis

Shen

Hsiao

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

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Abstract-Resistance training may be considered as one promising approach for improving the motor capabilities of post-stroke patients. A successful introduction of this depends on the proper resolution of human arm redundancy under gravitational loading. The spatially heterogeneous changes of the human arm swivel angle (which represents the upper limb redundancy) are studied under different loading conditions, the effects of which are incorporated into a modified dynamic manipulability ellipsoid model. A new scalar index describing the arm postural stability (APSI) is then proposed. As part of the experimental protocol, ten (10) healthy subjects performed multiple reaching tasks with different weights mounted on the forearm. Kinematic data was collected via a ten-camera motion capture system and the corresponding APSI was calculated for each task. APSI is found to have a strong linear correlation with the swivel angle under loading conditions. Furthermore, the data suggest that the swivel angle may serve as an indicator of arm postural stability and task difficulty. The results of additional experiments conducted with three (3) subjects indicate that the external loads could deteriorate the arm's control performance in tasks like line tracing (root mean square deviation from straight lines). These findings may be applicable to robot-based (exoskeleton) resistance therapy, assist-as-needed gravity compensation, and human-like motion control of humanoid robotic systems.

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Section: A Backgroundmentioning

confidence: 99%

Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis

Shen

Hsiao

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

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show abstract

“…Previous studies on the manipulability of bipeds can be classified into two categories: (i) those studying manipulability and coordination of upper degrees of freedom (DoFs) for hand movements and grasping tasks [7,14,15,18,19,37], and (ii) those studying manipulability and dexterity analysis of walking and whole body movements. There are also some studies addressing both of the above-mentioned categories.…”

Section: Introductionmentioning

confidence: 99%

On the manipulability of swing foot and stability of human locomotion

Fard

Bruijn

2019

Multibody Syst Dyn

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Manipulability is a measure that quantifies the range of possible motions of a robotic end-effector and it is also an important measure in the study of coordination of human upper body and grasping tasks. This measure, which is defined on both the kinematic and dynamic level, could be useful in gait, as it could be used to determine potential foot placement possibilities. Kinematic manipulability is defined based on the Jacobian and dynamic manipulability on both the Jacobian and mass-inertia matrix. The main purpose of this study was to evaluate the manipulability of human walking and to explore a possible relation between the manipulability and dynamic stability of walking at different speeds. A 37-DoF tree-like model of the human body was developed to evaluate the manipulability index of human walking. We measured kinematics of 11 healthy male subjects while walking on a treadmill, and mapped the data to the model using inverse kinematics. Jacobian based kinematic/dynamic manipulability measures of walking were evaluated for the swing phase of walking. Manipulability ellipsoids were drawn for geometric determination of this measure in all directions during early, mid-and late swing phases. As stability metrics, the local divergence exponent and Floquet Multipliers were calculated. The results indicated a high kinematic manipulability of the swing foot during early and late swing phases and a drop in kinematic manipulability during mid-swing. Kinematic manipulability of the swing leg during early and late (but not mid-) swing phases increased with walking speed but the average kinematic manipulability of the center of mass and dynamic manipulability of swing foot decreased with increasing walking speed. Moreover, the results showed a weak relation between the manipulability and local and orbital stability.

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Manipulability Based Hierarchical Control of Perturbed Walking

Fard

Mosadeghzad

2019

Int. J. Control Autom. Syst.

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Application of robotic manipulability indices to evaluate thumb performance during smartphone touch operations

Cited by 9 publications

References 28 publications

Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis

Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis

On the manipulability of swing foot and stability of human locomotion

Manipulability Based Hierarchical Control of Perturbed Walking

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