Opposition space and human prehension
Opposition space and human prehension
复制标题
对立空间和人类抓捕
DOI：
10.1007/978-1-4613-8974-3_2
复制
发表时间：
1990
影响因子：
2
通讯作者：
C. MacKenzie
中科院分区：
文献类型：
--
作者：
T. Iberall;C. MacKenzie
一个困扰运动心理学家研究人类行为和机器人设计师复制人类行为的问题是如何量化这种行为。有人认为，运动学和动力学模型是不足以解释人类运动，除非他们也包括性能约束和目标，影响神经和神经肌肉的输入。有了一只灵巧的多指手，多种抓取解决方案是可能的。本章讨论的问题所面临的控制器，即如何最好地利用手的功能，以实现任务目标，预期的对象属性和可预测的交互结果。反对派空间模型考虑到手的能力，适用于任务相关的力量，同时收集感官信息，在其精度和权力的能力。通过将实现细节与功能目标分离，对人手功能的研究可以设计出更好的机器人手及其控制器。
A problem that has plagued both motor psychologists in studying human behavior, and robot designers in reproducing it, is how to quantify that behavior. It has been argued that kinematic and dynamic models are inadequate for explaining human movement unless they also include both the performance constraints and the objectives that affect the neural and neuromuscular inputs. With a dextrous, multi-fingered hand, multiple grasping solutions are possible. This chapter addresses the question faced by the controller, that of how best to use features of the hand to achieve the task goals, given anticipated object properties and predictable interaction outcomes. The opposition space model takes into account the hand’s ability to apply task-related forces while gathering sensory information, in terms of its precision and power capabilities. By separating implementation details from functional goals, the study of human hand functionality can lead to the design of better dextrous robot hands and their controllers.