Synthesizing two criteria for redundancy resolution of human arm in point tasks

Barak Kashi*, Jacob Rosen, Moshe Brand, Idit Avrahami

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The human arm may be considered to be a redundant mechanism given a pointing task. As a result, multiple arm configurations can be used to complete a pointing task in which the tip of the index finger is brought to a preselected point in space. A kinematic model of the human arm with four degrees of freedom (DOF) and the synthesis of two criteria were developed as an analytical tool for studying position tasks. The two criteria were: (1) minimizing angular joint displacement (Minimal Angular Displacement (MAD)) and (2) averaging limits of the shoulder joint range (Joint Range Availability (JRA)). Joint angles predicted by a weighted model synthesizing the MAD and JRA models was linearly correlated (slope=0.97; r 2=0.81) with experimental data compared to individual criteria (MAD slope=0.76; r 2=0.67 or JRA slope=1; r 2=0.56). The partial contributions to the synthesized criterion were 70% MAD and 30% JRA. Solving the inverse kinematics problem of articulated redundant serials mechanism such as the human or robotic arm has applications in fields of human-robot interaction and wearable robotics, ergonomics, and computer graphics animation.

Original languageEnglish
Title of host publicationProceedings of the 2011 3rd World Congress on Nature and Biologically Inspired Computing, NaBIC 2011
Pages63-68
Number of pages6
DOIs
StatePublished - 2011
Event2011 3rd World Congress on Nature and Biologically Inspired Computing, NaBIC 2011 - Salamanca, Spain
Duration: 19 Oct 201121 Oct 2011

Publication series

NameProceedings of the 2011 3rd World Congress on Nature and Biologically Inspired Computing, NaBIC 2011

Conference

Conference2011 3rd World Congress on Nature and Biologically Inspired Computing, NaBIC 2011
Country/TerritorySpain
CitySalamanca
Period19/10/1121/10/11

Keywords

  • human arm
  • kinematics
  • optimization
  • pointing task
  • redundancy

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