Exploring Human Kinematic Control for Robotics Applications: The Role of Afferent Sensory Information in a Precision Task
by , ,
Abstract:
The investigation of human perception and movement kinematics during manipulation tasks provides insights that can be applied in the design of robotic systems in order to perform human-like manipulations in different contexts and with precision requirements. In this paper we investigate motor control in an unload precision task, in which a tool is moved vertically until it touches a support surface. We evaluate how acoustic and haptic sensory information generated at the moment of contact modulates the kinematic parameters of the movement. Experimental results show differences in the achieved motor control precision and provide insights into the different weights given to haptic and acoustic information.
Reference:
Exploring Human Kinematic Control for Robotics Applications: The Role of Afferent Sensory Information in a Precision Task (Jaime Leonardo Maldonado Cañon, Thorsten Kluss, Christoph Zetzsche), In IROS 2018: Workshop - Towards Robots that Exhibit Manipulation Intelligence, 2018.
Bibtex Entry:
@INPROCEEDINGS{maldonado2018iros,
     author = {Maldonado Cañon, Jaime Leonardo and Kluss, Thorsten and Zetzsche, Christoph},
      title = {Exploring Human Kinematic Control for Robotics Applications: The
      Role of Afferent Sensory Information in a Precision Task},
  booktitle = {IROS 2018: Workshop - Towards Robots that Exhibit Manipulation Intelligence},
       year = {2018},
   location = {Madrid},
   abstract = {The investigation of human perception and movement kinematics during manipulation tasks provides insights
   that can be applied in the design of robotic systems in order
   to perform human-like manipulations in different contexts
   and with precision requirements. In this paper we investigate
   motor control in an unload precision task, in which a tool is
   moved vertically until it touches a support surface. We evaluate
   how acoustic and haptic sensory information generated at the
   moment of contact modulates the kinematic parameters of
   the movement. Experimental results show differences in the
   achieved motor control precision and provide insights into the
   different weights given to haptic and acoustic information.}
}