Minimum jerk for human catching movements in 3D

Nadine Fligge; Joseph McIntyre; Patrick Van Der Smagt

doi:10.1109/BioRob.2012.6290265

Minimum jerk for human catching movements in 3D

Nadine Fligge, Joseph McIntyre, Patrick Van Der Smagt

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

25 Citations (Scopus)

Abstract

To investigate fast human reaching movements in 3D, we asked 11 right-handed persons to catch a tennis ball while we tracked the movements of their arms. To ensure consistent trajectories of the ball, we used a catapult to throw the ball from three different positions. Tangential velocity profiles of the hand were in general bell-shaped and hand movements in 3D coincided with well known results for 2D point-to-point movements such as minimum jerk theory or the 2/3rd power law. Furthermore, two phases, consisting of fast reaching and slower fine movements at the end of hand placement could clearly be seen. The aim of this study was to find a way to generate human-like (catching) trajectories for a humanoid robot.

Original language	English
Title of host publication	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages	581-586
Number of pages	6
DOIs	https://doi.org/10.1109/BioRob.2012.6290265
Publication status	Published - 2012
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/06/12

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10.1109/BioRob.2012.6290265

Cite this

Fligge, N., McIntyre, J., & Van Der Smagt, P. (2012). Minimum jerk for human catching movements in 3D. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 581-586). Article 6290265 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290265

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title = "Minimum jerk for human catching movements in 3D",

abstract = "To investigate fast human reaching movements in 3D, we asked 11 right-handed persons to catch a tennis ball while we tracked the movements of their arms. To ensure consistent trajectories of the ball, we used a catapult to throw the ball from three different positions. Tangential velocity profiles of the hand were in general bell-shaped and hand movements in 3D coincided with well known results for 2D point-to-point movements such as minimum jerk theory or the 2/3rd power law. Furthermore, two phases, consisting of fast reaching and slower fine movements at the end of hand placement could clearly be seen. The aim of this study was to find a way to generate human-like (catching) trajectories for a humanoid robot.",

author = "Nadine Fligge and Joseph McIntyre and {Van Der Smagt}, Patrick",

year = "2012",

doi = "10.1109/BioRob.2012.6290265",

language = "English",

isbn = "9781457711992",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

pages = "581--586",

booktitle = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012",

note = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 ; Conference date: 24-06-2012 Through 27-06-2012",

}

Fligge, N, McIntyre, J & Van Der Smagt, P 2012, Minimum jerk for human catching movements in 3D. in 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012., 6290265, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 581-586, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290265

Minimum jerk for human catching movements in 3D. / Fligge, Nadine; McIntyre, Joseph; Van Der Smagt, Patrick.
2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 581-586 6290265 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - To investigate fast human reaching movements in 3D, we asked 11 right-handed persons to catch a tennis ball while we tracked the movements of their arms. To ensure consistent trajectories of the ball, we used a catapult to throw the ball from three different positions. Tangential velocity profiles of the hand were in general bell-shaped and hand movements in 3D coincided with well known results for 2D point-to-point movements such as minimum jerk theory or the 2/3rd power law. Furthermore, two phases, consisting of fast reaching and slower fine movements at the end of hand placement could clearly be seen. The aim of this study was to find a way to generate human-like (catching) trajectories for a humanoid robot.

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Minimum jerk for human catching movements in 3D

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