Kinematic motion analysis of the human arm during a manipulation task

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 6Language: englishTyp: PDF

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Zanchettin, Andrea Maria; Rocco, Paolo; Bascetta, Luca (Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. Da Vinci 32, 20133, Milano, Italy)
Symeonidis, Ioannis; Peldschus, Steffen (Institute of Legal Medicine, Ludwig-Maximilians University, Nussbaumstrasse 26, 80336 Munich, Germany)

Research in the field of human kinematic analysis has gained interest in recent years and has fostered new ideas and expectations. Next generations of manipulators are expected to resemble a human-like behaviour at kinematic level, in order to avoid any unease or discomfort (like fear or shock) to the nearby humans. Robot manufactures are in fact already putting on the market kinematically redundant manipulators that guarantee high levels of dexterity and a more flexible motion planning. In this paper, a kinematic experimental approach to study the motion of the human arm will be presented. In particular, the proposed scenario will be used to study how humans exploit the kinematic redundancy of their arm, for a future use in a robotic controller.