IEEE_EMBC2021_DL_01_03_2021.pdf (1.29 MB)
Exploiting spherical projections to generate human-like wrist pointing movements
conference contribution
posted on 2023-06-10, 02:00 authored by Carlo TiseoCarlo Tiseo, Sydney Rebecca Charitos, Michael MistryThe mechanism behind the generation of human movements is of great interest in many fields (e.g. robotics and neuroscience) to improve therapies and technologies. Optimal Feedback Control (OFC) and Passive Motion Paradigm (PMP) are currently two leading theories capable of effectively producing human-like motions, but they require solving nonlinear inverse problems to find a solution. The main benefit of using PMP is the possibility of generating path-independent movements consistent with the stereotypical behaviour observed in humans, while the equivalent OFC formulation is path-dependent. Our results demonstrate how the path-independent behaviour observed for the wrist pointing task can be explained by spherical projections of the planar tasks. The combination of the projections with the fractal impedance controller eliminates the nonlinear inverse problem, which reduces the computational cost compared to previous methodologies. The motion exploits a recently proposed PMP architecture that replaces the nonlinear inverse optimisation with a nonlinear anisotropic stiffness impedance profile generated by the Fractal Impedance Controller, reducing the computational cost and not requiring a task-dependent optimisation.
History
Publication status
- Published
File Version
- Accepted version
Journal
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)ISSN
2375-7477Publisher
IEEEExternal DOI
Event name
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)Event location
MexicoEvent type
conferenceEvent date
1-5 November 2021ISBN
9781728111803Department affiliated with
- Engineering and Design Publications
Notes
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-12-15First Open Access (FOA) Date
2021-12-20First Compliant Deposit (FCD) Date
2021-12-20Usage metrics
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