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Natural Human Movements in Geometrically Constrained Haptic Environments

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Book cover Haptic Interaction (AsiaHaptics 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 432))

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Abstract

A haptic simulation system with configurable physical constraints for studying skillful human movements is presented. Different curve/surface constraints in 3D can be generated and linked to the system. The system is tested on a variety of tasks performed by human subjects. Theoretical and experimental kinematic profiles are compared for the case of basic rest-to-rest task, namely, line-constrained movement during transport of flexible object. In addition, the demonstration includes also the manipulation of parallel flexible objects, chained objects with elliptical constraint, and a rolling ball manipulation with torque feedbacks applied to the haptic manipulator.

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References

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Acknowledgments

This research was supported in part by MEXT KAKENHI Grant Number JP15K05900.

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Authors and Affiliations

  1. 3D Incorporated, 2-3-8 Shin-Yokohama, Kanagawa, 222-0033, Japan

    Igor Goncharenko

  2. Faculty of Engineering, Kyushu University, Motooka 744, Nishi-ku, Fukuoka, 819-0395, Japan

    Mikhail Svinin

  3. Graduate School of Information Science and Engineering, Ritsumeikan University, Nojihigashi 1-1-1, Kusatsu Shiga, 525-8577, Japan

    Victor Kryssanov

Authors
  1. Igor Goncharenko
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  2. Mikhail Svinin
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  3. Victor Kryssanov
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Corresponding author

Correspondence to Igor Goncharenko .

Editor information

Editors and Affiliations

  1. Tokyo Institute of Technology, Yokohama, Kanagawa, Japan

    Shoichi Hasegawa

  2. Tohoku University, Sendai, Miyagi, Japan

    Masashi Konyo

  3. Electronics and Telecommunications Research Institute, Daejeon, Korea (Republic of)

    Ki-Uk Kyung

  4. The University of Electro-Communications, Tokyo, Japan

    Takuya Nojima

  5. The University of Electro-Communications, Tokyo, Japan

    Hiroyuki Kajimoto

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© 2018 Springer Nature Singapore Pte Ltd.

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Goncharenko, I., Svinin, M., Kryssanov, V. (2018). Natural Human Movements in Geometrically Constrained Haptic Environments. In: Hasegawa, S., Konyo, M., Kyung, KU., Nojima, T., Kajimoto, H. (eds) Haptic Interaction. AsiaHaptics 2016. Lecture Notes in Electrical Engineering, vol 432. Springer, Singapore. https://doi.org/10.1007/978-981-10-4157-0_3

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  • DOI: https://doi.org/10.1007/978-981-10-4157-0_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-4156-3

  • Online ISBN: 978-981-10-4157-0

  • eBook Packages: EngineeringEngineering (R0)

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