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

^*Autor correspondiente de este trabajo

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

25 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Páginas	581-586
Número de páginas	6
DOI	https://doi.org/10.1109/BioRob.2012.6290265
Estado	Publicada - 2012
Evento	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italia Duración: 24 jun 2012 → 27 jun 2012

Serie de la publicación

Nombre	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (versión impresa)	2155-1774

Conferencia

Conferencia	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
País/Territorio	Italia
Ciudad	Rome
Período	24/06/12 → 27/06/12

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10.1109/BioRob.2012.6290265

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Fligge, N., McIntyre, J., & Van Der Smagt, P. (2012). Minimum jerk for human catching movements in 3D. En 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 581-586). Artículo 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",

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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",

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Fligge, N, McIntyre, J & Van Der Smagt, P 2012, Minimum jerk for human catching movements in 3D. En 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, Italia, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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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