Human hand trajectory analysis in point-and-direct telerobotics

Blackmon, Theodore T.; Çavuşoğlu, M. Cenk; Lai, Fuji; Stark, Lawrence

doi:10.1109/icar.1997.620292

Cited by 5 publications

(15 citation statements)

References 11 publications

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“…In these and other references such as Blackmon et al (1997), certain characteristics of the trajectory such as maximum velocity were analysed rather than the complete curve.…”

Section: Introductionmentioning

confidence: 99%

Modelling Three-Dimensional Trajectories by Using Bézier Curves with Application to Hand Motion

Faraway

Reed

Wang

2007

Journal of the Royal Statistical Society Series C: Applied Statistics

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A modelling approach for three-dimensional trajectories with particular application to hand reaching motions is described. Bézier curves are defined by control points which have a convenient geometrical interpretation. A fitting method for the control points to trajectory data is described. These fitted control points are then linked to covariates of interest by using a regression model. This allows the prediction of new trajectories and the ability to model the variability in trajectories. The methodology is illustrated with an application to hand trajectory modelling for ergonomics. Motion capture was used to collect a total of about 2000 hand trajectories performed by 20 subjects to a variety of targets. A simple model with strong predictive performance and interpretablility is developed. The use of hand trajectory models in the digital human models for virtual manufacturing applications is discussed. Copyright 2007 Royal Statistical Society.

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“…In these and other references such as Blackmon et al (1997), certain characteristics of the trajectory such as maximum velocity were analysed rather than the complete curve.…”

Section: Introductionmentioning

confidence: 99%

Modelling Three-Dimensional Trajectories by Using Bézier Curves with Application to Hand Motion

Faraway

Reed

Wang

2007

Journal of the Royal Statistical Society Series C: Applied Statistics

View full text Add to dashboard Cite

show abstract

“…This hypothesis was supported by evidence in literature that have shown 1.5–2x decreases in completion rate for virtual tasks versus physical tasks (Graham & MacKenzie, 1996; Mason, Walji, Lee, & MacKenzie, 2001; Sprague et al, 2006; Blackmon et al, 1997). Additionally, the NC condition was expected to exhibit the lowest performance of these three conditions since the visual field was translated away from the motor workspace and may require the most change to typical human visuo-motor mappings.…”

Section: Introductionmentioning

confidence: 59%

“…Since each corrective movement (CM) signifies a direction change, if the reaching motion was ideally smooth, then the number of corrections should be 0. This measure was used by Blackmon et al (1997) to quantify human reaching performance in virtual and real environments. They found that CMs were minimized for real environments with physical targets and was increased for the virtual environment cases.…”

Section: Performance Measures For Analysismentioning

confidence: 99%

“…Investigated tasks include 2D point-to-point targeting with a joystick interface (Bernotat, 1970), 3D pick-and-place and tracking using two joysticks (Kim, Tendick, & Stark, 1987; Kim, Ellis, Tyler, Hannaford, & Stark, 1987), whole-arm 3D point-to-point reaching (Blackmon, Çavuşoğlu, Lai, & Stark, 1997), and 3D object orientation matching (Ware & Arsenault, 2004). Task completion times and error rates for visual rotations about the azimuth (direction perpendicular to the ground) were found to have a quasi-symmetric trend about the 0° condition.…”

Section: Introductionmentioning

confidence: 99%

“…Lastly, although there is evidence that reduced task performance occurs in VEs (vs. physical environments) and under translational and rotational misalignments – only one attempt has been made to investigate all three factors using the same manual task. That attempt by Blackmon et al (1997) was a small study of 4 subjects that only examined 0, 45, and 90 rotations.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Effect of Visuomotor Colocation on 3D Fitts' Task Performance in Physical and Virtual Environments

Hershberger

Sano

et al. 2012

Presence: Teleoperators and Virtual Environments

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Given the ease that humans have with using a keyboard and mouse in typical, non-colocated computer interaction, many studies have investigated the value of co-locating the visual field and motor workspaces using immersive display modalities. Significant understanding has been gained by previous work comparing physical tasks against virtual tasks, visuo-motor co-location versus non-colocation, and even visuo-motor rotational misalignments in virtual environments (VEs). However, few studies have explored all of these paradigms in context with each other and it is difficult to perform inter-study comparisons because of the variation in tested motor tasks. Therefore, using a stereoscopic fish tank display setup, the goal for the current study was to characterize human performance of a 3D Fitts' point-to-point reaching task using a stylus-based haptic interface in the physical, co-located/non-colocated, and rotated VE visualization conditions.Five performance measures – throughput, initial movement error, corrective movements, and peak velocity – were measured and used to evaluate task performance. These measures were studied in 22 subjects (11 male, 11 female, ages 20–32) performing a 3D variant of Fitts' serial task under 10 task conditions: physical, co-located VE, non-colocated VE, and rotated VEs from 45–315° in 45° increments. Hypotheses All performance measures in the co-located VE were expected to reflect significantly reduced task performance over the real condition, but also reflect increased performance over the non-colocated VE condition. For rotational misalignments, all performance measures were expected to reflect highest performance at 0°, reduce to lowest performance at 90° and rise again to a local maximum at 180° (symmetric about 0°). Results All performance measures showed that the co-located VE condition resulted in significantly lower task performance than the physical condition and higher mean performance than the non-colocated VE condition, but the difference was not statistically significant. Also, rotation misalignments showed that task performance were mostly reduced to minimums at 90°, 135°, and 225°. We conclude that co-located VEs may not significantly improve point-to-point reaching performance over non-colocated VEs. Also, visual rotations of ±45° affected throughput, efficiency, peak velocity, and initial movement error, but the number of corrective movements were not affected until ±90°.

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Effect of visuo-haptic co-location on 3D Fitts' task performance

Fu¹,

Hershberger²,

Sano³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Given the ease that humans have with using a keyboard and mouse in typical, non-colocated computer interaction, many studies have investigated the value of colocating the visual field and haptic workspaces using immersive virtual reality (VR) modalities. Significant understanding has been gained by previous work comparing physical tasks against VR tasks, visuo-haptic co-location versus non-colocation, and even visuo-haptic rotational misalignments in VR. However, few studies have explored all of these paradigms in context with each other and it is difficult to do inter-study comparisons because of the variation in tested motor tasks. Therefore, the goal for the current study was to characterize human performance of Fitts' point-to-point reaching task-an established test of manual performance-in the physical, co-located/non-colocated VR, and rotated VR visualization conditions. A key finding was the significant decrease observed in end-point error for tasks performed in a co-located virtual reality environment. The results also showed cyclic performance degradations due to rotational visuo-haptic misalignments that were consistent with trends reported by the literature.

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Human hand trajectory analysis in point-and-direct telerobotics

Cited by 5 publications

References 11 publications

Modelling Three-Dimensional Trajectories by Using Bézier Curves with Application to Hand Motion

Modelling Three-Dimensional Trajectories by Using Bézier Curves with Application to Hand Motion

Effect of Visuomotor Colocation on 3D Fitts' Task Performance in Physical and Virtual Environments

Effect of visuo-haptic co-location on 3D Fitts' task performance

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