Efficiently Generating the Ballistic Phase of Human-Like Aimed Movement

Human-like movement can be efficiently generated by driving a damped inertial plant toward a fixed target with position-based control, then switching to conventional feedback control as the desired endpoint is approached. Key characteristics of human motion, not easily replicated with traditional co...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 19; no. 6; pp. 1839 - 1846
Main Authors Shelton, Jeffrey N., Chiu, George T.-C
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Acceleration
Actuation
Biology
Displacement
Human
Human motion
Human movement
Indexes
Kinematics
Mathematical analysis
motion control
Movement
normalized-displacement control
Robots
Switching
Torque
Tracking
Trajectory
trajectory planning
normalized-displacement control
motion control
Human movement
trajectory planning
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Summary:Human-like movement can be efficiently generated by driving a damped inertial plant toward a fixed target with position-based control, then switching to conventional feedback control as the desired endpoint is approached. Key characteristics of human motion, not easily replicated with traditional control architectures, result from tracking a position-based actuation template derived from human trials. Computation of the applied forcing function requires only linear scaling of this template, or displacement-normalized actuation program (DNAP). Simulated ballistic movements generated with the proposed method are shown to be consistent with human subject kinematic trajectories.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2014.2316156