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Minimum Jerk Trajectory Control for Rehabilitation and Haptic Applications

Lookup NU author(s): Dr Farshid Amirabdollahian

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Abstract

Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes


Publication metadata

Author(s): Amirabdollahian F; Loureiro R; Harwin W

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: International conference on robotics and automation

Year of Conference: 2002

Pages: 3380-3385

Publisher: IEEE

URL: http://dx.doi.org/10.1109/ROBOT.2002.1014233

DOI: 10.1109/ROBOT.2002.1014233

Notes: IEEE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION 1050-4729 0780372727 0780372735 English

Library holdings: Search Newcastle University Library for this item

ISBN: 0780372727


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