Effects on human motor strategies of physical interaction with a force-controlled wrist rehabilitation robot

2010 ◽  
Author(s):  
Maria Scorcia ◽  
Domenico Formica ◽  
Nevio Luigi Tagliamonte ◽  
Domenico Campolo ◽  
Eugenio Guglielmelli
Keyword(s):  
Physical Interaction ◽  
Rehabilitation Robot ◽  
Human Motor ◽  
Motor Strategies

scholarly journals Adiabatic invariants drive rhythmic human motion in variable gravity

2019 ◽  
Author(s):  
N. Boulanger ◽  
F. Buisseret ◽  
V. Dehouck ◽  
F. Dierick ◽  
O. White
Keyword(s):  
Motor Control ◽  
Human Motion ◽  
Adiabatic Invariants ◽  
Human Motor Control ◽  
Changing Environments ◽  
Human Movements ◽  
Human Motor ◽  
Variable Gravity ◽  
Points Of View ◽  
Motor Strategies

AbstractNatural human movements are stereotyped. They minimise cost functions that include energy, a natural candidate from mechanical and physiological points of view. In time-changing environments, however, motor strategies are modified since energy is no longer conserved. Adiabatic invariants are relevant observables in such cases, although they have not been investigated in human motor control so far. We fill this gap and show that the theory of adiabatic invariants explains how humans move when gravity varies.

scholarly journals Modeling Human Motor Skills to Enhance Robots’ Physical Interaction

2021 ◽  
pp. 116-126
Author(s):  
Giuseppe Averta ◽  
Visar Arapi ◽  
Antonio Bicchi ◽  
Cosimo della Santina ◽  
Matteo Bianchi
Keyword(s):  
Motor Skills ◽  
Physical Interaction ◽  
Human Motor

scholarly journals Effects of Impedance Reduction of a Robot for Wrist Rehabilitation on Human Motor Strategies in Healthy Subjects during Pointing Tasks

2011 ◽  
Vol 25 (5) ◽  
pp. 537-562 ◽  
Author(s):  
Nevio Luigi Tagliamonte ◽  
Maria Scorcia ◽  
Domenico Formica ◽  
Domenico Campolo ◽  
Eugenio Guglielmelli
Keyword(s):  
Healthy Subjects ◽  
Human Motor ◽  
Motor Strategies

scholarly journals Sensing small interaction forces through proprioception

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Fazlur Rashid ◽  
Devin Burns ◽  
Yun Seong Song
Keyword(s):  
Muscle Contraction ◽  
Interaction Force ◽  
Initial Position ◽  
Human Robot Interaction ◽  
Human Interaction ◽  
Physical Interaction ◽  
Robot Interaction ◽  
Interaction Forces ◽  
Force Direction ◽  
Human Motor

AbstractUnderstanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners for effective motor communication. The aim of this work is to investigate what affects the human’s sensitivity to the externally applied interaction forces. The hypothesis is that one way the small interaction forces are sensed is through the movement of the arm and the resulting proprioceptive signals. A pHRI setup was used to provide small interaction forces to the hand of seated participants in one of four directions, while the participants were asked to identify the direction of the push while blindfolded. The result shows that participants’ ability to correctly report the direction of the interaction force was lower with low interaction force as well as with high muscle contraction. The sensitivity to the interaction force direction increased with the radial displacement of the participant’s hand from the initial position: the further they moved the more correct their responses were. It was also observed that the estimated stiffness of the arm varies with the level of muscle contraction and robot interaction force.

Ergonomic design of a wrist robot

2014 ◽  
Vol 7 (3) ◽  
pp. 289-306
Author(s):  
Mohammad Esmaeili ◽  
Nathanaël Jarrassé ◽  
Wayne Dailey ◽  
Etienne Burdet ◽  
Domenico Campolo
Keyword(s):  
Design Methodology ◽  
Content Type ◽  
Robotic Therapy ◽  
Motor Strategy ◽  
Reaction Forces ◽  
Human Motor ◽  
Fixation Points ◽  
First Time ◽  
Motor Strategies ◽  
Practical Implications

Purpose – The purpose of this paper is to propose a method to avoid hyperstaticity and eventually reduce the magnitude of undesired force/torques. The authors also study the influence of hyperstaticity on human motor control during a redundant task. Design/methodology/approach – Increasing the level of transparency of robotic interfaces is critical to haptic investigations and applications. This issue is particularly important to robotic structures that mimic the human counterpart's morphology and attach directly to the limb. Problems arise for complex joints such as the wrist, which cannot be accurately matched with a traditional mechanical joint. In such cases, mechanical differences between human and robotic joint cause hyperstaticity (i.e. over-constrained) which, coupled with kinematic misalignment, leads to uncontrolled force/torque at the joint. This paper focusses on the prono-supination (PS) degree of freedom of the forearm. The overall force and torque in the wrist PS rotation is quantified by means of a wrist robot. Findings – A practical solution to avoid hyperstaticity and reduce the level of undesired force/torque in the wrist is presented. This technique is shown to reduce 75 percent of the force and 68 percent of the torque. It is also shown an over-constrained mechanism could alter human motor strategies. Practical implications – The presented solution could be taken into account in the early phase of design of robots. It could also be applied to modify the fixation points of commercial robots in order to reduce the magnitude of reaction forces and avoid changes in motor strategy during the robotic therapy. Originality/value – In this paper for the first time the authors study the effect of hyperstaticity on both reaction forces and human motor strategies.

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