dc.contributor.authorTommasino, Paolo
dc.contributor.authorCampolo, Domenico
dc.identifier.citationTommasino, P., & Campolo, D. (2017). An extended passive motion paradigm for human-like posture and movement planning in redundant manipulators, 11, 65-.en_US
dc.description.abstractA major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies such as Donders' law. In this work, after presenting this general model specifying it as an extension of the Passive Motion Paradigm, we show how, once fitted to capture experimental postural strategies, the model is actually able to also predict movements. More specifically, the passive motion paradigm embeds two main intrinsic components: joint damping and joint stiffness. In previous work we showed that joint stiffness is responsible for static postures and, in this sense, its parameters are regressed to fit to experimental postural strategies. Here, we show how joint damping, in particular its anisotropy, directly affects task-space movements. Rather than using damping parameters to fit a posteriori task-space motions, we make the a priori hypothesis that damping is proportional to stiffness. This remarkably allows a postural-fitted model to also capture dynamic performance such as curvature and hysteresis of task-space trajectories during wrist pointing tasks, confirming and extending previous findings in literature.en_US
dc.description.sponsorshipASTAR (Agency for Sci., Tech. and Research, S’pore)en_US
dc.description.sponsorshipNMRC (Natl Medical Research Council, S’pore)en_US
dc.description.sponsorshipMOH (Min. of Health, S’pore)en_US
dc.format.extent17 p.en_US
dc.relation.ispartofseriesFrontiers in Neuroroboticsen_US
dc.rights© 2017 Tommasino and Campolo. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.en_US
dc.subjectKinematic Redundancyen_US
dc.subjectPostural Synergiesen_US
dc.titleAn extended passive motion paradigm for human-like posture and movement planning in redundant manipulatorsen_US
dc.typeJournal Article
dc.contributor.researchRobotics Research Centreen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.versionPublished versionen_US

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