The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements
The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehab...
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 2510 |
|---|---|
| container_issue | |
| container_start_page | 2507 |
| container_title | |
| container_volume | 2013 |
| creator | Zhi Li Roldan, Jay Ryan Milutinovic, Dejan Rosen, Jacob |
| description | The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehabilitation. Experiments performed on ten healthy subjects have shown that when reaching from one point to another, the human arm rotates around an axis going through the shoulder. The proposed redundancy resolution based on the direction of the axis can predict the arm posture with a higher accuracy comparing to a redundancy resolution that maximizes the motion efficiency. It is also shown that for reaching movements in the comfortable arm motion range, the directions of the axis are constrained by a linear model. |
| doi_str_mv | 10.1109/EMBC.2013.6610049 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>pubmed_6IE</sourceid><recordid>TN_cdi_ieee_primary_6610049</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6610049</ieee_id><sourcerecordid>24110236</sourcerecordid><originalsourceid>FETCH-LOGICAL-i301t-d44b77b3b8990b0493c4f5ade32e91e93d2c204ba94e726d86b8f8a5d30954f33</originalsourceid><addsrcrecordid>eNo9kN1KAzEQhaMoWmsfQATJC2zNfzaXWuoPVLyp4F1JNlmb2mSX7LbYtzfa6tUMc745cA4AVxiNMUbqdvpyPxkThOlYCIwQU0fgAjMuJSJYqGMwwJyXBROYn-QdKVaIUr6fg1HXrRBCWApBCT0D54RlP0LFAKzmSwdT0-veN1Gvof7yHdRtmxpdLWHdJJhc16y3Pn7APqOfPrqQ4Srf7SZaHasdbOpfbbkJOkKdAvQxy9ng5ys0Wxdc7LtLcFrrdedGhzkEbw_T-eSpmL0-Pk_uZoWnCPeFZcxIaagplUImh6QVq7m2jhKnsFPUkoogZrRiThJhS2HKutTcUqQ4qykdgpu9b7sxwdlFm3zQabf4C52B6z3gnXP_8qFS-g3vWmah</addsrcrecordid><sourcetype>Index Database</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Zhi Li ; Roldan, Jay Ryan ; Milutinovic, Dejan ; Rosen, Jacob</creator><creatorcontrib>Zhi Li ; Roldan, Jay Ryan ; Milutinovic, Dejan ; Rosen, Jacob</creatorcontrib><description>The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehabilitation. Experiments performed on ten healthy subjects have shown that when reaching from one point to another, the human arm rotates around an axis going through the shoulder. The proposed redundancy resolution based on the direction of the axis can predict the arm posture with a higher accuracy comparing to a redundancy resolution that maximizes the motion efficiency. It is also shown that for reaching movements in the comfortable arm motion range, the directions of the axis are constrained by a linear model.</description><identifier>ISSN: 1094-687X</identifier><identifier>ISSN: 1557-170X</identifier><identifier>EISSN: 1558-4615</identifier><identifier>EISBN: 1457702169</identifier><identifier>EISBN: 9781457702167</identifier><identifier>DOI: 10.1109/EMBC.2013.6610049</identifier><identifier>PMID: 24110236</identifier><language>eng</language><publisher>United States: IEEE</publisher><subject>Adult ; Arm - physiology ; Biomechanical Phenomena ; Elbow ; Female ; Humans ; Kinematics ; Male ; Models, Biological ; Movement ; Posture ; Random access memory ; Redundancy ; Shoulder ; Shoulder - physiology ; Vectors ; Wrist</subject><ispartof>2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013, Vol.2013, p.2507-2510</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6610049$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6610049$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/24110236$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Zhi Li</creatorcontrib><creatorcontrib>Roldan, Jay Ryan</creatorcontrib><creatorcontrib>Milutinovic, Dejan</creatorcontrib><creatorcontrib>Rosen, Jacob</creatorcontrib><title>The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements</title><title>2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)</title><addtitle>EMBC</addtitle><addtitle>Conf Proc IEEE Eng Med Biol Soc</addtitle><description>The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehabilitation. Experiments performed on ten healthy subjects have shown that when reaching from one point to another, the human arm rotates around an axis going through the shoulder. The proposed redundancy resolution based on the direction of the axis can predict the arm posture with a higher accuracy comparing to a redundancy resolution that maximizes the motion efficiency. It is also shown that for reaching movements in the comfortable arm motion range, the directions of the axis are constrained by a linear model.</description><subject>Adult</subject><subject>Arm - physiology</subject><subject>Biomechanical Phenomena</subject><subject>Elbow</subject><subject>Female</subject><subject>Humans</subject><subject>Kinematics</subject><subject>Male</subject><subject>Models, Biological</subject><subject>Movement</subject><subject>Posture</subject><subject>Random access memory</subject><subject>Redundancy</subject><subject>Shoulder</subject><subject>Shoulder - physiology</subject><subject>Vectors</subject><subject>Wrist</subject><issn>1094-687X</issn><issn>1557-170X</issn><issn>1558-4615</issn><isbn>1457702169</isbn><isbn>9781457702167</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2013</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><sourceid>EIF</sourceid><recordid>eNo9kN1KAzEQhaMoWmsfQATJC2zNfzaXWuoPVLyp4F1JNlmb2mSX7LbYtzfa6tUMc745cA4AVxiNMUbqdvpyPxkThOlYCIwQU0fgAjMuJSJYqGMwwJyXBROYn-QdKVaIUr6fg1HXrRBCWApBCT0D54RlP0LFAKzmSwdT0-veN1Gvof7yHdRtmxpdLWHdJJhc16y3Pn7APqOfPrqQ4Srf7SZaHasdbOpfbbkJOkKdAvQxy9ng5ys0Wxdc7LtLcFrrdedGhzkEbw_T-eSpmL0-Pk_uZoWnCPeFZcxIaagplUImh6QVq7m2jhKnsFPUkoogZrRiThJhS2HKutTcUqQ4qykdgpu9b7sxwdlFm3zQabf4C52B6z3gnXP_8qFS-g3vWmah</recordid><startdate>20130101</startdate><enddate>20130101</enddate><creator>Zhi Li</creator><creator>Roldan, Jay Ryan</creator><creator>Milutinovic, Dejan</creator><creator>Rosen, Jacob</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope></search><sort><creationdate>20130101</creationdate><title>The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements</title><author>Zhi Li ; Roldan, Jay Ryan ; Milutinovic, Dejan ; Rosen, Jacob</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i301t-d44b77b3b8990b0493c4f5ade32e91e93d2c204ba94e726d86b8f8a5d30954f33</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Adult</topic><topic>Arm - physiology</topic><topic>Biomechanical Phenomena</topic><topic>Elbow</topic><topic>Female</topic><topic>Humans</topic><topic>Kinematics</topic><topic>Male</topic><topic>Models, Biological</topic><topic>Movement</topic><topic>Posture</topic><topic>Random access memory</topic><topic>Redundancy</topic><topic>Shoulder</topic><topic>Shoulder - physiology</topic><topic>Vectors</topic><topic>Wrist</topic><toplevel>online_resources</toplevel><creatorcontrib>Zhi Li</creatorcontrib><creatorcontrib>Roldan, Jay Ryan</creatorcontrib><creatorcontrib>Milutinovic, Dejan</creatorcontrib><creatorcontrib>Rosen, Jacob</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Zhi Li</au><au>Roldan, Jay Ryan</au><au>Milutinovic, Dejan</au><au>Rosen, Jacob</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements</atitle><btitle>2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)</btitle><stitle>EMBC</stitle><addtitle>Conf Proc IEEE Eng Med Biol Soc</addtitle><date>2013-01-01</date><risdate>2013</risdate><volume>2013</volume><spage>2507</spage><epage>2510</epage><pages>2507-2510</pages><issn>1094-687X</issn><issn>1557-170X</issn><eissn>1558-4615</eissn><eisbn>1457702169</eisbn><eisbn>9781457702167</eisbn><abstract>The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehabilitation. Experiments performed on ten healthy subjects have shown that when reaching from one point to another, the human arm rotates around an axis going through the shoulder. The proposed redundancy resolution based on the direction of the axis can predict the arm posture with a higher accuracy comparing to a redundancy resolution that maximizes the motion efficiency. It is also shown that for reaching movements in the comfortable arm motion range, the directions of the axis are constrained by a linear model.</abstract><cop>United States</cop><pub>IEEE</pub><pmid>24110236</pmid><doi>10.1109/EMBC.2013.6610049</doi><tpages>4</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1094-687X |
| ispartof | 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013, Vol.2013, p.2507-2510 |
| issn | 1094-687X 1557-170X 1558-4615 |
| language | eng |
| recordid | cdi_ieee_primary_6610049 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Adult Arm - physiology Biomechanical Phenomena Elbow Female Humans Kinematics Male Models, Biological Movement Posture Random access memory Redundancy Shoulder Shoulder - physiology Vectors Wrist |
| title | The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-29T20%3A26%3A31IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-pubmed_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=The%20rotational%20axis%20approach%20for%20resolving%20the%20kinematic%20redundancy%20of%20the%20human%20arm%20in%20reaching%20movements&rft.btitle=2013%2035th%20Annual%20International%20Conference%20of%20the%20IEEE%20Engineering%20in%20Medicine%20and%20Biology%20Society%20(EMBC)&rft.au=Zhi%20Li&rft.date=2013-01-01&rft.volume=2013&rft.spage=2507&rft.epage=2510&rft.pages=2507-2510&rft.issn=1094-687X&rft.eissn=1558-4615&rft_id=info:doi/10.1109/EMBC.2013.6610049&rft_dat=%3Cpubmed_6IE%3E24110236%3C/pubmed_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=1457702169&rft.eisbn_list=9781457702167&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/24110236&rft_ieee_id=6610049&rfr_iscdi=true |