Characterization of Joint-Interpolated Arm Movements
Author(s)Hollerbach, John M.; Atkeson, Christopher G.
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Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of data has appeared that indicated straight-line trajectories in both hand space and joint space at the same time. To assist in distinguishing between these viewpoints applied to the same data, we have theoretically characterized the set of trajectories derivable from a joint based planning strategy and have compared them to experimental measurements. We conclude that the apparent straight-lines in joint space happen to be artifacts of movement kinematics near the workspace boundary.
arm control, kinematics, trajectory planning