Dimensionality Reduction in Control and Coordination of the Human Hand
Dimensionality Reduction in Control and Coordination of the Human Hand
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DOI：
10.1109/tbme.2009.2032532
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发表时间：
2010-02-01
影响因子：
4.6
通讯作者：
Mao, Zhi-Hong
中科院分区：
文献类型：
--
作者：
Vinjamuri, Ramana;Sun, Mingui;Mao, Zhi-Hong
为了解决人手控制与协调中的降维问题，提出了运动学协同的概念。提出了一种从手部运动关节角速度剖面中提取运动学协同效应的方法。从众多运动中分解出有限的协同效应是一个复杂的优化问题。本文将分解过程分为两个阶段。第一阶段是利用奇异值分解(SVD)从快速移动任务中提取协同效应。然后，从提取的协同效应的移位版本创建模板函数库。第二阶段是基于L(1)-最小化的协同效应的权重和开始时间，其解决方案使用协同效应来提供手部运动的稀疏表示。
The concept of kinematic synergies is proposed to address the dimensionality reduction problem in control and coordination of the human hand. This paper develops a method for extracting kinematic synergies from joint-angular-velocity profiles of hand movements. Decomposition of a limited set of synergies from numerous movements is a complex optimization problem. This paper splits the decomposition process into two stages. The first stage is to extract synergies from rapid movement tasks using singular value decomposition (SVD). A bank of template functions is then created from shifted versions of the extracted synergies. The second stage is to find weights and onset times of the synergies based on l(1)-minimization, whose solutions provide sparse representations of hand movements using synergies.