Robot-amplified manual exploration improves load identification

F. C. Huang, J. L. Patton, F. A. Mussa-Ivaldi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

We tested how manual exploration with anisotropic loading (Viscosity-Only (negative), Inertia-Only, or Combined-Load) influenced skill transfer to the isolated inertial load. Intact subjects (N=39) performed manual exploration with an anisotropic load before evaluation with prescribed circular movements. Combined-Load resulted in lower error (6.89±3.25%) compared to Inertia-Only (8.40±4.32%) and Viscosity-Only (8.17±4.13%) according to radial deviation analysis (% of trial mean radius). An analysis of sensitivity to load variation in normal and catch trials reveals performance differences were likely due to changes in feedforward mass compensation. Analysis of exploration movement revealed higher average speeds (12.0%) and endpoint forces (22.9%) with Combined-Load exploration compared to Inertia-Only. Our findings suggest that free movements amplified by negative viscosity can enhance the ability to identify changes in inertial loading.

Original languageEnglish (US)
Title of host publicationWorld Congress on Medical Physics and Biomedical Engineering
Subtitle of host publicationNeuroengineering, Neural Systems, Rehabilitation and Prosthetics
PublisherSpringer Verlag
Pages335-338
Number of pages4
Edition9
ISBN (Print)9783642038884
DOIs
StatePublished - 2009
EventWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics - Munich, Germany
Duration: Sep 7 2009Sep 12 2009

Publication series

NameIFMBE Proceedings
Number9
Volume25
ISSN (Print)1680-0737

Other

OtherWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics
CountryGermany
CityMunich
Period9/7/099/12/09

Keywords

  • Error-augmentation
  • Manual control
  • Systems identification

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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