Journal article
Optimization-based trajectory planning of the human upper body
Robotica, Vol.24(6), pp.683-696
11/2006
DOI: 10.1017/S0263574706002852
Abstract
This paper presents studies of the coordination of human upper body voluntary movement. A minimum-jerk 3D model is used to obtain the desired path in Cartesian space, which is widely used in the prediction of human reach movement. Instead of inverse kinematics, a direct optimization approach is used to predict each joint's profile (a spline curve). This optimization problem has four cost function terms: (1) Joint displacement function that evaluates displacement of each joint away from its neutral position; (2) Inconsistency function, which is the joint rate change (first derivative) and predicted overall trend from the initial target point to the final target point; (3) The non-smoothness function of the trajectory, which is the second derivative of the joint trajectory; (4) The non-continuity function, which consists of the amplitudes of joint angle rates at the initial and final target points, in order to emphasize smooth starting and ending conditions. This direct optimization technique can be used for potentially any number of degrees of freedom (DOF) system and it reduces the cost associated with certain inverse kinematics approaches for resolving joint profiles. This paper presents a high redundant upper-body modeling with 15 DOFs. Illustrative examples are presented and an interface is set up to visualize the results.
Details
- Title: Subtitle
- Optimization-based trajectory planning of the human upper body
- Creators
- Karim Abdel-Malek - Virtual Soldier Research Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000 (USA)Zan Mi - Virtual Soldier Research Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000 (USA)Jingzhou Yang - Virtual Soldier Research Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000 (USA)Kyle Nebel - U.S. Army TACOM/RDECOM, AMSRD-TAR-NAC/157, 6501 East 11 Mile Rd., Warren, MI 48397-5000 (USA)
- Resource Type
- Journal article
- Publication Details
- Robotica, Vol.24(6), pp.683-696
- Publisher
- Cambridge University Press; Cambridge, UK
- DOI
- 10.1017/S0263574706002852
- ISSN
- 0263-5747
- eISSN
- 1469-8668
- Number of pages
- 14
- Language
- English
- Date published
- 11/2006
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064253102771
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