Multijoint arm control: beyond reaching

F.A. Mussa-Ivaldi^1,2, J. L. Patton², V. Chib¹, D. Sha², C. D. Mah², J. B. Dingwell³

 

¹Department of Biomedical Engineering, Northwestern University, Chicago, IL, USA

²Sensoy Motor Performance Program, Rehabilitation Institute of Chicago, Chicago, IL   USA

³Department of Kinesiology and Health Education, University of Texas at Austin, Austin, TX, USA

 

IEEE Engineering in Medicine and Biology Conference, Cancun, Mexico, September, 2003.

 

 

Abstract

We present a set of recent results on the control of movements in which the hand interacts with force fields that simulate the presence of dynamical objects and of surface boundaries. These experiments exploit the possibility of using human/robot interactions for exploring if and how the smoothness is enforced by the adaptive control system. We conclude that a) subjects learn to generate smooth motion of transported objects and that b) significant exceptions to smooth motions are observed in hand movements over curved boundaries.  

 

 

 

Full text of this article:  [PDF]

 

Conference website: http://itzamna.uam.mx/cancun

 

Mussa-Ivaldi F.A., Patton J.L., Chib V.S., Sha D., Mah, C. D., Dingwel, J.B.., “Multijoint arm control: beyond reaching,” IEEE Engineering in Medicine and Biology Conference, Cancun, Mexico, September, 2003.