This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Modeling the Coordinated Movements of the Head and Hand Using Differential Inverse Kinematics
Technical Paper
2004-01-2178
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Hand reach movements for manual work, vehicle operation, and manipulation of controls are planned and guided by visual images actively captured through eye and head movements. It is hypothesized that reach movements are based on the coordination of multiple subsystems that pursue the individual goals of visual gaze and manual reach. In the present study, shared control coordination was simulated in reach movements modeled using differential inverse kinematics. An 8-DOF model represented the torso-neck-head link (visual subsystem), and a 9-DOF model represented the torso-upper limb link (manual subsystem), respectively. Joint angles were predicted in the velocity domain via a pseudo-inverse Jacobian that weighted each link for its contribution to the movement. A secondary objective function was introduced to enable both subsystems to achieve the corresponding movement goals in a coordinated manner by manipulating redundant degrees of freedom. Simulated motions were compared to motion recordings from ten subjects performing right-hand reaches in a seated posture. Joint angles were predicted with and without the contribution of the coordination function, and model accuracy was determined using the RMS error and differences in end posture angles. The results indicated that prediction accuracy was generally better when the coordination function was included. This improvement was more pronounced for low and eccentric targets, as they required greater contribution of the joints shared by both visual and manual subsystems.
Authors
Citation
Kim, K., Martin, B., and Gillespie, R., "Modeling the Coordinated Movements of the Head and Hand Using Differential Inverse Kinematics," SAE Technical Paper 2004-01-2178, 2004, https://doi.org/10.4271/2004-01-2178.Also In
References
- Dysart, M. J. Woldstad, J. C. 1996 Posture prediction for static sagittal-plane lifting Journal of Biomechanics 29 10 1393 1397
- Zhang, X. Kuo, A. D. Chaffin, D. B. 1999 Optimization-based differential kinematic modeling exhibits a velocity-control strategy for dynamic posture determination in seated reaching movements Journal of Biomechanics 31 1035 1042
- Wang, X. 1999 Behavior-based inverse kinematics algorithm to predict arm prehension postures for computer-aided ergonomic evaluation Journal of Biomechanics 32 5 453 460
- Abdel-Malek, K. Yu, W. Jaber, J. Duncan, J. 2001 Realistic posture prediction for maximum dexterity SAE Technical Papers Series , 2001-01-2110 Warrendale, PA Society of Automotive Engineers
- Kim, K. Martin, B. J. Park, W. 2000 Head orientation in visually guided tasks SAE Technical Papers Series , 2000-01-2174 Warrendale, PA Society of Automotive Engineers
- Delleman, N. J. Huysmans, M. A. Kujit-Evers, L. F. M 2001 Postural behaviour in static gazing sidewards SAE Technical Papers Series , 2001-01-2093 Warrendale, PA Society of Automotive Engineers
- Tipper, S. P. Howard, L. A. Paul, M. A. 2001 Reaching affects saccade trajectories Experimental Brain Research 136 2 241 249
- Peterka, R. J. Benolken, M. S. 1995 Role of somatosensory and vestibular cues in attenuating visually induced human postural sway Experimental Brain Research 105 1 101 110
- Cohn, J. V. DiZio, P. Lackner J. R. 2000 Reaching during virtual rotation: context specific compensations for expected coriolis forces Journal of Neurophysiology 83 6 3230 3240
- van der Kooij, H. Jacobs, R. Koopman, B. van der Helm, F. 2001 An adaptive model of sensory integration in a dynamic environment applied to human stance control Biological Cybernetics 84 2 103 115
- Hashimoto, K. 1999 Observer-based Visual Servoing Robotics and Automation Ghosh B. Xi N. Tarn T. J. Academic Press London
- Greville, T. N. E. 1959 The pseudoinverse of a rectangular or singular matrix and its application to the solution of systems of linear equations SIAM Review 1 1 38 43
- Maciejewski, A. A. Klein, C. A. 1985 Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments International Journal of Robotics Research 4 3 109 117
- Chiacchio, P. Chiaverini, S. Sciavicco, L. Siciliano, B. 1991 Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy International Journal of Robotics Research 10 410 425
- Jampel, R. S. Shi, D. X. 1992 The primary position of the eyes, the resetting saccade, and the transverse visual head plane Investigative Ophthalmology and Visual Science 33 8 2501 2510
- Kim, K. H. Martin, B. J. 2002 Coordinated Movements of the Head in Hand Reaching Tasks Proceedings of the 46th Human Factors and Ergonomics Society Conference Baltimore, Maryland
- Vercher, J. L. Magenes, G. Prablanc, C. Gauthier, G. M. 1994 Eye-head-hand coordination in pointing at visual targets: Spatial and temporal analysis Experimental Brain Research 99 507 523