An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation.
Journal:
IEEE transactions on bio-medical engineering
Published Date:
May 31, 2018
Abstract
OBJECTIVE: In teleoperated robot-assisted tasks, the user interacts with manipulators to finely control remote tools. Manipulation of robotic devices, characterized by specific kinematic and dynamic proprieties, is a complex task for the human sensorimotor system due to the inherent biomechanical and neuronal redundancies that characterize the human arm and its control. We investigate how master devices with different kinematics structures and how different task constraints influence users capabilities in exploiting arm redundancy.