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Minimum jerk trajectory control for rehabilitation and haptic applications

Amirabdollahian, F., Loureiro, R. and Harwin, W. (2002) Minimum jerk trajectory control for rehabilitation and haptic applications. In: IEEE International Conference on Robotics and Automation (ICRA 2002), 11-15 May 2002, Washington DC, USA, pp. 3380-3385.

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To link to this article DOI: 10.1109/ROBOT.2002.1014233

Abstract/Summary

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 the 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.

Item Type:Conference or Workshop Item (Paper)
Refereed:Yes
Divisions:Faculty of Science > School of Systems Engineering
ID Code:19061
Uncontrolled Keywords:haptic interface, human arm motion, human machine interaction, minimum jerk trajectory control, polynomials, rehabilitation, robot arm, smooth trajectory, stroke patients, therapy

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