The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation

Zoller, Esther I.; Gerig, Nicolas; Cattin, Philippe C.; Rauter, Georg

doi:10.1109/toh.2020.3027261

Cited by 4 publications

(2 citation statements)

References 23 publications

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“…Our results contribute to a deeper understanding of how humans may represent and compensate for visual remapping in teleoperation systems. Moreover, they highlight the importance of appropriate planning of the rotational workspace [58]. The visuomotor rotation discussed in this paper is relevant for robotic teleoperation if the leader-follower frames or camera viewpoint are misaligned due to failures of the operator to control the camera viewpoint, misreading by sensors, or an incorrect kinematic model of the robot [49,[59][60][61][62].…”

Section: Discussionmentioning

confidence: 99%

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Zruya

Nisky

2022

Preprint

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Computational approaches to biological motor control are used to discover the building blocks of human motor behavior. Models explaining features of human hand movements have been studied thoroughly, yet only a few studies attempted to explain the control of the orientation of the hand; instead, they mainly focus on the control of hand translation, predominantly in a single plane. In this study, we aimed to establish a basic understanding of the way humans control the orientation of their hands. We developed a quaternion-based score that quantifies the geodicity of rotational hand movements and evaluated it experimentally. In the first experiment participants performed a simple orientation-matching task with a robotic manipulator. We found that rotations are generally performed by following a geodesic in the quaternion hypersphere, which suggests that, similarly to translation, the orientation of the hand is centrally controlled. We also established a baseline for the study of human response to perturbed visual feedback of the orientation of the hand. In the subsequent second experiment we studied the adaptation of participants to visuomotor rotation that is applied on the hand's rotation, and the transfer of the adaptation to a different initial orientation. We observed partial adaptation to the perturbation. The patterns of the transfer of the adaptation to a different initial orientation were consistent with the representation of the orientation in extrinsic coordinates. The results of the two experiments raise questions regarding the nature of central control of hand orientation. Discussion and intuitions from these results can be of benefit for many applications that involve fine manipulation of rigid bodies, such as teleoperation and neurorehabilitation.

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Section: Discussionmentioning

confidence: 99%

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Zruya

Nisky

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…Our results contribute to a deeper understanding of how humans may represent and compensate for visual remapping in teleoperation systems. Moreover, they highlight the importance of appropriate planning of the rotational workspace [ 66 ]. The visuomotor rotation discussed in this paper is relevant for robotic teleoperation if the leader-follower frames or camera viewpoint are misaligned due to failures of the operator to control the camera viewpoint, misreading by sensors, or an incorrect kinematic model of the robot [ 57 , 67 – 70 ].…”

Section: Discussionmentioning

confidence: 99%

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Zruya

Nisky

2022

PLoS Comput Biol

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Computational approaches to biological motor control are used to discover the building blocks of human motor behaviour. Models explaining features of human hand movements have been studied thoroughly, yet only a few studies attempted to explain the control of the orientation of the hand; instead, they mainly focus on the control of hand translation, predominantly in a single plane. In this study, we present a new methodology to study the way humans control the orientation of their hands in three dimensions and demonstrate it in two sequential experiments. We developed a quaternion-based score that quantifies the geodicity of rotational hand movements and evaluated it experimentally. In the first experiment, participants performed a simple orientation-matching task with a robotic manipulator. We found that rotations are generally performed by following a geodesic in the quaternion hypersphere, which suggests that, similarly to translation, the orientation of the hand is centrally controlled, possibly by optimizing geometrical properties of the hand’s rotation. This result established a baseline for the study of human response to perturbed visual feedback of the orientation of the hand. In the second experiment, we developed a novel visuomotor rotation task in which the rotation is applied on the hand’s rotation, and studied the adaptation of participants to this rotation, and the transfer of the adaptation to a different initial orientation. We observed partial adaptation to the rotation. The patterns of the transfer of the adaptation to a different initial orientation were consistent with the representation of the orientation in extrinsic coordinates. The methodology that we developed allows for studying the control of a rigid body without reducing the dimensionality of the task. The results of the two experiments open questions for future studies regarding the mechanisms underlying the central control of hand orientation. These results can be of benefit for many applications that involve fine manipulation of rigid bodies, such as teleoperation and neurorehabilitation.

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Haptic device for physiologically adaptive handle operation

Wang,

Li,

Shi

et al. 2025

International Journal of Mechanical Sciences

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The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation

Cited by 4 publications

References 23 publications

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Haptic device for physiologically adaptive handle operation

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