Minimum jerk trajectory control for rehabilitation and haptic applications

Farshid Amirabdollahian; R. Loureiro; W. Harwin

Minimum jerk trajectory control for rehabilitation and haptic applications

Farshid Amirabdollahian, R. Loureiro, W. Harwin

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

69 Citations (Scopus)

Abstract

Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

Original language	English
Title of host publication	Procs 2002 IEEE Int Conf on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	3380-3385
Number of pages	6
ISBN (Print)	0-7803-7272-7, 978-0780372726
Publication status	Published - 2002
Event	19th IEEE International Conference on Robotics and Automation (ICRA) - WASHINGTON Duration: 11 May 2002 → 15 May 2002

Conference

Conference	19th IEEE International Conference on Robotics and Automation (ICRA)
City	WASHINGTON
Period	11/05/02 → 15/05/02

Keywords

human machine interaction
minimum jerk theory
super position
target selection
therapy
stroke
rehabilitation
haptic
ARM MOVEMENTS

Cite this

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title = "Minimum jerk trajectory control for rehabilitation and haptic applications",

abstract = "Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.",

keywords = "human machine interaction, minimum jerk theory, super position, target selection, therapy, stroke, rehabilitation, haptic, ARM MOVEMENTS",

author = "Farshid Amirabdollahian and R. Loureiro and W. Harwin",

year = "2002",

language = "English",

isbn = "0-7803-7272-7",

pages = "3380--3385",

booktitle = "Procs 2002 IEEE Int Conf on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "19th IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 11-05-2002 Through 15-05-2002",

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TY - GEN

T1 - Minimum jerk trajectory control for rehabilitation and haptic applications

AU - Amirabdollahian, Farshid

AU - Loureiro, R.

AU - Harwin, W.

PY - 2002

Y1 - 2002

N2 - Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

AB - Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

KW - human machine interaction

KW - minimum jerk theory

KW - super position

KW - target selection

KW - therapy

KW - stroke

KW - rehabilitation

KW - haptic

KW - ARM MOVEMENTS

M3 - Conference contribution

SN - 0-7803-7272-7

SN - 978-0780372726

SP - 3380

EP - 3385

BT - Procs 2002 IEEE Int Conf on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 19th IEEE International Conference on Robotics and Automation (ICRA)

Y2 - 11 May 2002 through 15 May 2002

ER -

Minimum jerk trajectory control for rehabilitation and haptic applications

Abstract

Conference

Keywords

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