TY  - COLL
AU  - Wank, Veit
A2  - Wank, Veit
A2  - Fischer, A.
A2  - Bös, Klaus
A2  - Boesnach, Ingo
A2  - Moldenhauer, Jörg
A2  - Beth, T.
DB  - BISp
DP  - BISp
KW  - Bewegung
KW  - Bewegungsablauf
KW  - Bewegungsanalyse
KW  - Greifen
KW  - Mensch
KW  - Sportwissenschaft
LA  - eng
PB  - Institute of Electrical and Electronics Engineers
CY  - Piscataway (N.J.)
TI  - Similarities and varieties in human motion trajectories of predefined grasping and disposing movements
TT  - Übereinstimmungen und Unterschiede menschlicher Bewegungsbahnen bei vorgegebenen Greifbewegungen und disponierenden Bewegungen
PY  - 2004
N2  - Human movement is characterized by smoothed trajectories and individual solutions relating to joint angle configuration. For the transformation of human movement characteristics into humanoid robots knowledge about basic strategies and the nature of human motion is necessary. The objective of this study is the inter-individual and intra-individual comparison of movement trajectories and time series of joint angles for several predefined object manipulations. For that purpose the kinematics of arm, hand and finger motion was measured via 3D video motion capturing and analyzed. Graphs of object trajectories, joint angles and finger tip distances (grasp state) were displayed for an example motion: moving to a cuboid, grasping the object and putting it to a heightened target position. The varieties in motion of different subjects and within repeated motion cycles of one and the same subject are presented. Besides this we show, how test subjects with different body height solve the motion task.   Verf.-Referat
SP  - S. 311-321
BT  - 2004 4th IEEE/RAS International Conference on Humanoid Robots : Nov. 10 - 12, 2004, Santa Monica, CA  ; Vol. 1 and Vol. 2
M3  - Elektronische Ressource (online)
M3  - Gedruckte Ressource
ID  - PU201108007177
ER  -