Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement

TL;DR: Two adaptation methods to external force; “slow adaptation’ and “rapid adaptation” are proposed for smoother reaching movements and submissive behavior to follow the force to make smooth endpoint speed profiles and movements flexible to follow external force without detecting the force.

TL;DR: In this article, the authors proposed a mathematical model which accounts for formation of hand trajectories by defining an objective function, a measure of performance for any possible movement: square of the rate of change of torque integrated over the entire movement.

TL;DR: In order to investigate the strategies used to plan and control multijoint arm trajectories, two-degrees-of-freedom arm movements performed by normal adult humans were recorded and only the shoulder and elbow joints were active.

TL;DR: Unrestrained human arm trajectories between point targets have been investigated using a three-dimensional tracking apparatus, the Selspot system, and movement regions were discovered in which the hand paths were curved.

TL;DR: In this article, a soft motion trajectory planner is presented to ensure safety and comfort of service robot manipulators in the presence of human interaction, where personnel are isolated from the robot's work envelope.