Inherent Kinematic Features of Dynamic Bimanual Path Following Tasks.
Inherent Kinematic Features of Dynamic Bimanual Path Following Tasks.
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DOI：
10.1109/thms.2020.3016084
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发表时间：
2020-12
影响因子：
3.6
通讯作者：
Majewicz, Ann
中科院分区：
文献类型：
--
作者：
Boehm, Jacob R.;Fey, Nicholas P.;Majewicz, Ann
关键词：
双手协调对于许多机器人和触觉系统（例如手术机器人和康复机器人）至关重要。虽然这些系统通常为每个肢体配备两个机器人操纵器，但可能会错失利用人类双手协调的总体模型来改进机器人操纵器控制和响应动态人类操作员的方式的机会。在本文中，我们在一项涉及 11 名受试者和两个触觉设备的用户研究中，研究了几种双手运动因素（例如对称性和方向）对运动学人体关节空间特征和性能结果任务空间特征的影响。此外，我们评估了使用关节空间特征对双手运动类型进行分类的能力，显示了机器人系统预测用户如何协调四肢的潜力。评估了三个分类器：（1）似然比、（2）k 最近邻和（3）支持向量机的目标数量因素的分类精度。似然比的准确度为 79.6%，大多数正确预测发生在运动开始时。任务空间性能结果表明，尽管双手的相对方向不同，但达到两个目标的性能低于单个目标，并且对称性本身并不会导致性能差异。此外，无量纲积分绝对加加速度 (DIAJ) 是该特定任务卓越性能的指标。此外，这些结果与当前的双手协调理论相一致，表明手动性能差异是任务限制和概念化的结果。
Bimanual coordination is critical in many robotic and haptic systems, such as surgical robots and rehabilitation robots. While these systems often incorporate two robotic manipulators for each limb, there may be a missed opportunity to leverage overarching models of human bimanual coordination to improve the way in which the robotic manipulators are controlled and respond to the dynamic human operator. In this paper, we study the influences of several bimanual motion factors (e.g., symmetry and direction) on kinematic human joint-space features and performance outcome task-space features in a user study with eleven subjects and two haptic devices. Additionally, we evaluated the ability to use joint-space features to classify types of bimanual movement, showing the potential for a robotic system to predict how users coordinate their limbs. Three classifiers: (1) likelihood ratio, (2) k-nearest neighbor, and (3) support vector machine, were evaluated for classification accuracy in regards to the factor of number of targets. Likelihood ratio resulted in an accuracy of 79.6% with the majority of correct predictions occurring immediately at the start of movement. The task-space performance results reveal that despite the relative direction of both hands, reaching two targets results in lower performance than a single target, and symmetry alone does not contribute to performance disparity. Also, dimensionless integrated absolute jerk (DIAJ) is an indicator of superior performance for this particular task. Furthermore, these results align with current bimanual coordination theory by showing manual performance disparities are a consequence of task constraints and conceptualization.
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影响因子：
5.7
作者：
Patel V;Thukral P;Burns MK;Florescu I;Chandramouli R;Vinjamuri R
通讯作者：
Vinjamuri R
关于上肢之间的协调评估：迈向康复工程师，临床医生和神经科学家之间的通用语言。
影响因子：
5.1
作者：
Shirota C;Jansa J;Diaz J;Balasubramanian S;Mazzoleni S;Borghese NA;Melendez-Calderon A
通讯作者：
Melendez-Calderon A
影响因子：
64.8
作者：
Mechsner, F;Kerzel, D;Prinz, W
通讯作者：
Prinz, W
影响因子：
1.1
作者：
de Poel, HJ;Peper, CE;Beek, PJ
通讯作者：
Beek, PJ
影响因子：
6.4
作者：
Del Vecchio, D;Murray, RM;Perona, P
通讯作者：
Perona, P