Spatial Map of Synthesized Criteria for the Redundancy Resolution of Human Arm Movements


The kinematic redundancy of the human arm permits the elbow position to rotate regarding the axis browsing the shoulder and wrist, that leads to infinite possible arm postures when the arm reaches to a target during a 3-D workspace. To infer the control strategy the human motor system uses to resolve redundancy in reaching movements, this paper compares 5 redundancy resolution criteria and evaluates their arm posture prediction performance using knowledge on healthy human motion. 2 synthesized criteria are developed to supply higher real-time arm posture prediction than the five individual criteria. Of these two, the criterion synthesized using an exponential technique predicts the arm posture a lot of accurately than that employing a least squares approach, and therefore is preferable for inferring the contributions of the individual criteria to motor management throughout reaching movements. As a methodology contribution, this paper proposes a framework to match and evaluate redundancy resolution criteria for arm motion control. A cluster analysis which associates criterion contributions with regions of the workspace provides a suggestion for coming up with a real-time motion control system applicable to higher-limb exoskeletons for stroke rehabilitation.

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