Minimum jerk trajectory control for rehabilitation and haptic applications

Farshid Amirabdollahian, R. Loureiro, W. Harwin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

69 Citations (Scopus)


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 languageEnglish
Title of host publicationProcs 2002 IEEE Int Conf on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)0-7803-7272-7, 978-0780372726
Publication statusPublished - 2002
Event19th IEEE International Conference on Robotics and Automation (ICRA) - WASHINGTON
Duration: 11 May 200215 May 2002


Conference19th IEEE International Conference on Robotics and Automation (ICRA)


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


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