Abstract
A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies such as Donders' law. In this work, after presenting this general model specifying it as an extension of the Passive Motion Paradigm, we show how, once fitted to capture experimental postural strategies, the model is actually able to also predict movements. More specifically, the passive motion paradigm embeds two main intrinsic components: joint damping and joint stiffness. In previous work we showed that joint stiffness is responsible for static postures and, in this sense, its parameters are regressed to fit to experimental postural strategies. Here, we show how joint damping, in particular its anisotropy, directly affects task-space movements. Rather than using damping parameters to fit a posteriori task-space motions, we make the a priori hypothesis that damping is proportional to stiffness. This remarkably allows a postural-fitted model to also capture dynamic performance such as curvature and hysteresis of task-space trajectories during wrist pointing tasks, confirming and extending previous findings in literature.
| Original language | English |
|---|---|
| Journal | Frontiers in Neurorobotics |
| Volume | 11 |
| Issue number | NOV |
| DOIs | |
| Publication status | Published - Nov 30 2017 |
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Keywords
- Donders' law
- Kinematic redundancy
- Movement
- Pointing
- Postural synergies
- Posture
ASJC Scopus subject areas
- Biomedical Engineering
- Artificial Intelligence
Cite this
An extended passive motion paradigm for human-like posture and movement planning in redundant manipulators. / Tommasino, Paolo; Campolo, Domenico.
In: Frontiers in Neurorobotics, Vol. 11, No. NOV, 30.11.2017.Research output: Contribution to journal › Article
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TY - JOUR
T1 - An extended passive motion paradigm for human-like posture and movement planning in redundant manipulators
AU - Tommasino, Paolo
AU - Campolo, Domenico
PY - 2017/11/30
Y1 - 2017/11/30
N2 - A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies such as Donders' law. In this work, after presenting this general model specifying it as an extension of the Passive Motion Paradigm, we show how, once fitted to capture experimental postural strategies, the model is actually able to also predict movements. More specifically, the passive motion paradigm embeds two main intrinsic components: joint damping and joint stiffness. In previous work we showed that joint stiffness is responsible for static postures and, in this sense, its parameters are regressed to fit to experimental postural strategies. Here, we show how joint damping, in particular its anisotropy, directly affects task-space movements. Rather than using damping parameters to fit a posteriori task-space motions, we make the a priori hypothesis that damping is proportional to stiffness. This remarkably allows a postural-fitted model to also capture dynamic performance such as curvature and hysteresis of task-space trajectories during wrist pointing tasks, confirming and extending previous findings in literature.
AB - A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies such as Donders' law. In this work, after presenting this general model specifying it as an extension of the Passive Motion Paradigm, we show how, once fitted to capture experimental postural strategies, the model is actually able to also predict movements. More specifically, the passive motion paradigm embeds two main intrinsic components: joint damping and joint stiffness. In previous work we showed that joint stiffness is responsible for static postures and, in this sense, its parameters are regressed to fit to experimental postural strategies. Here, we show how joint damping, in particular its anisotropy, directly affects task-space movements. Rather than using damping parameters to fit a posteriori task-space motions, we make the a priori hypothesis that damping is proportional to stiffness. This remarkably allows a postural-fitted model to also capture dynamic performance such as curvature and hysteresis of task-space trajectories during wrist pointing tasks, confirming and extending previous findings in literature.
KW - Donders' law
KW - Kinematic redundancy
KW - Movement
KW - Pointing
KW - Postural synergies
KW - Posture
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UR - http://www.scopus.com/inward/citedby.url?scp=85037128750&partnerID=8YFLogxK
U2 - 10.3389/fnbot.2017.00065
DO - 10.3389/fnbot.2017.00065
M3 - Article
AN - SCOPUS:85037128750
VL - 11
JO - Frontiers in Neurorobotics
JF - Frontiers in Neurorobotics
SN - 1662-5218
IS - NOV
ER -