Muscle-Effort-Minimization-Inspired Kinematic Redundancy Resolution for Replicating Natural Posture of Human Arm

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 30; pp. 2341 - 2351
• Main Authors: Li, Quanlin, Xia, Yang, Wang, Xianzong, Xin, Peiyang, Chen, Wenbin, Xiong, Caihua
• Format: Journal Article
• Language: English
• Published: New York IEEE 2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Arm; Arms; Constraint modelling; Evolutionary algorithms; Handedness; Human behavior; Inverse kinematics; Iterative methods; Jacobi matrix method; Jacobian matrix; kinematic redundancy; Kinematics; Minimization; muscle effort; Muscles; musculoskeletal model; Musculoskeletal system; Natural human arm posture; Optimization; Posture; Redundancy; Replication; Resampling; Robotics; Robots; Task analysis
• ISSN: 1534-4320; 1558-0210; 1558-0210
• DOI: 10.1109/TNSRE.2022.3198400

Replicating natural postures of human arms is essential to generate human-like behaviors in robotic applications for humans nearby. However, how to realize this requirement in interactive scenarios remains a challenge due to the kinematic redundancy and unknown postural control strategy of human arm...