Resolving kinematic redundancy in target-reaching movements with and without external constraint

2008 ◽  
Vol 191 (1) ◽  
pp. 67-81 ◽  
Author(s):  
Dongpyo Lee ◽  
Daniel M. Corcos ◽  
Jonathan Shemmell ◽  
Sue Leurgans ◽  
Ziaul Hasan
Keyword(s):  
Reaching Movements ◽  
Kinematic Redundancy ◽  
External Constraint

Smokers’ (Dis)satisfaction, Persuasive Constraint, and Influence of Expert and Non-Expert Sources

2006 ◽  
Vol 65 (1) ◽  
pp. 7-14 ◽  
Author(s):  
Juan M. Falomir-Pichastor ◽  
Gabriel Mugny ◽  
Federica Invernizzi
Keyword(s):  
Intention To Quit ◽  
Motivation To Change ◽  
Internal Motivation ◽  
Quit Smoking ◽  
External Constraint ◽  
Source Study ◽  
Expert Sources

The present research tested the hypothesis that an internal motivation to change is elaborated as an external constraint and is less predictive of change when the source is expert than when it is non-expert. In two studies, smokers were categorized as either dissatisfied or moderately satisfied according to their degree of dissatisfaction with their image as smokers (i.e., internal motivation to change). They were then exposed to an antismoking argument attributed either to an expert or to a non-expert source. Compared to moderately satisfied smokers, dissatisfied smokers perceived the source as making less effort to convince them (Study 1, N = 43), and as being less disrespectful (Study 2, N = 81), but this pattern was significant only for the non-expert source. Study 2 also showed that experts had more influence on intention to quit smoking among moderately satisfied smokers, whereas non-experts had more influence among dissatisfied smokers.

Visual context differentially mediates left- and right-hand reaching movements

2009 ◽  
Author(s):  
Jos J. Adam ◽  
Susan Hoonhorst ◽  
Rick Muskens ◽  
Jay Pratt ◽  
Martin H. Fischer
Keyword(s):  
Reaching Movements ◽  
Visual Context ◽  
Right Hand ◽  
Left And Right

Eye-hand reaching movements are controlled by a fronto-parietal network with distinct foci for the different functional subcomponents

2009 ◽  
Vol 36 (S 02) ◽  
Author(s):  
MF Nitschke ◽  
K Ludwig ◽  
G Vassilev ◽  
D Kömpf ◽  
F Binkofski
Keyword(s):  
Reaching Movements

scholarly journals An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
Takao Taniguchi
Keyword(s):  
Angular Velocity ◽  
Obstacle Avoidance ◽  
Impedance Control ◽  
Kinematic Redundancy ◽  
End Effector ◽  
Rate Vector

An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

Sign in / Sign up

Export Citation Format

Share Document