Kinematic constraints for assisted single-arm manipulation

Tanya Tickel*, David Hannon, Kevin M. Lynch, Michael A. Peshkin, J. Edward Colgate

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


Of several possible forms of human-robot collaborative manipulation, we focus on the case where the human and the robot jointly manipulate a common load. In our formulation, the robot's role is to provide a constraint surface to guide the motion of the load. The value of this form of interaction, in terms of ergonomics, accuracy, or speed, depends on how humans make use of such constraints. We are studying natural single-arm manipulation of a load constrained to move along a guide rail. In this paper we present results of experiments showing that subjects apply significant forces against the rail, depending on the configuration of the arm and the orientation of the rail. These forces are unnecessary for the manipulation task, and we hypothesize that humans apply forces against the constraint to simplify the manipulation task.

Original languageEnglish (US)
Pages (from-to)2034-2041
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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