Deformation of Angle Profiles in Forward Kinematics for Nullifying End-Point Offset While Preserving Movement Properties

[+] Author and Article Information
Xudong Zhang

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

J Biomech Eng 124(5), 490-495 (Sep 30, 2002) (6 pages) doi:10.1115/1.1503062 History: Received December 01, 2000; Revised May 01, 2002; Online September 30, 2002
Copyright © 2002 by ASME
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Grahic Jump Location
Angle profile deformation
Grahic Jump Location
An illustration of the seated right-hand reaching movements, with an abstract representation of a driving simulator in which the movements were performed. The four targets resemble four typical in-vehicle locations to which a driver would reach: (A) headliner, (B) shift console, (C) instrument panel, and (D) glove compartment. Reflective spherical markers were placed over bony landmarks identifying right index fingertip, right elbow (lateral epicondyle), right shoulder (acromion process), sternum (supersternale), right and left anterior-superior iliac spine (ASIS), and were measured by an opto-electronic motion capture system. Measured marker locations allowed construction of a 4-segment linkage representation incorporating 7 DOF: torso flexion/extension (θ1), torso lateral bending (θ2), clavicle rotation (θ3), shoulder abduction/adduction (θ4,) shoulder flexion/extension (θ5,) elbow flexion/extension (θ6,) and humeral rotation (θ7).
Grahic Jump Location
Time-averaged position errors for the intermediate joints and end-point resulting from the raw prediction, AP deformation, and TP deformation, for 32 reaching movements performed by 8 subjects towards 4 target locations: (A) headliner, (B) shift console, (C) instrument panel, and (D) glove compartment.
Grahic Jump Location
Time-averaged mean absolute angle errors (also averaged across multiple joint angles) resulting from the raw prediction, AP deformation, and TP deformation, for 32 reaching movements by 8 subjects towards the 4 target locations.



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