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Lookup NU author(s): Dr Farshid Amirabdollahian
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Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes
Author(s): Amirabdollahian F; Loureiro R; Harwin W
Publication type: Conference Proceedings (inc. Abstract)
Publication status: Published
Conference Name: International conference on robotics and automation
Year of Conference: 2002
Pages: 3380-3385
Publisher: IEEE
URL: http://dx.doi.org/10.1109/ROBOT.2002.1014233
DOI: 10.1109/ROBOT.2002.1014233
Notes: IEEE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION 1050-4729 0780372727 0780372735 English
Library holdings: Search Newcastle University Library for this item
ISBN: 0780372727
