Exploiting Spherical Projections To Generate Human-Like Wrist Pointing Movements

Carlo Tiseo*, Sydney Rebecca Charitos, Michael Mistry

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

The 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.
Original languageEnglish
Title of host publication2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)978-1-7281-1179-7
ISBN (Print)978-1-7281-1180-3
DOIs
Publication statusPublished - 8 Mar 2021
Event2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) - Virtual Conference, Mexico
Duration: 1 Nov 20215 Nov 2021
https://embc.embs.org/2021/

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
PublisherIEEE
ISSN (Print)2375-7477
ISSN (Electronic)2694-0604

Conference

Conference2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
Abbreviated titleEMBC 2021
Country/TerritoryMexico
Period1/11/215/11/21
Internet address

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