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How do we plan movements?: A geometric answer
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. Robotics, Perception and Learning, School of Computer Science and Communication, KTH - Royal Institute of Technology, Stockholm, Sweden.. (Electronics)ORCID iD: 0000-0002-5970-2985
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. (Electronics)ORCID iD: 0000-0001-5429-7223
Robotics, Perception and Learning, School of Computer Science and Communication, KTH - Royal Institute of Technology, Stockholm, Sweden.ORCID iD: 0000-0003-2078-8854
2016 (English)In: School and symposium on advanced neurorehabilitation (SSNR2016): Proceedings, 2016, , 2 p.16-17 p.Conference paper, Abstract (Other academic)Text
Abstract [en]

Human movement is essentially a complex phenomenon. When humans work closely with robots, understanding human motion using robot’s sensors is a very challenging problem. This is partially due to the lack of proper consensus among researchers on which representation to use in such situations. This extended abstract presents a novel kinematic framework to study human intention using hybrid twists. Thisis important as the functional aspects of the human shoulder are evaluated using the information embedded in thoraco-humeral kinematics. We successfully demonstrate that our approach is singularity free. We also demonstrate that how the twis tparameters vary according to the movement being performed.

Place, publisher, year, edition, pages
2016. , 2 p.16-17 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:hig:diva-22702OAI: oai:DiVA.org:hig-22702DiVA: diva2:1044880
Conference
School and symposium on advanced neurorehabilitation (SSNR2016), 6-10 June 2016, Baiona, Spain
Projects
VINNOVA, AAL 2013-6-042
Funder
VINNOVA, AAL 2013-6-042
Available from: 2016-11-07 Created: 2016-11-07 Last updated: 2016-11-08Bibliographically approved

Open Access in DiVA

fulltext(481 kB)13 downloads
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Type fulltextMimetype application/pdf

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Krishnan, RakeshBjörsell, NiclasSmith, Christian
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ReferencesLink to record
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