Arm movement experiments with joint space force fields using an exoskeleton robot

Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics

Volumn 2005, Issue , 2005, Pages 408-413

  Mistry, Michael ^a   Mohajerian, Peyman ^a   Schaal, Stefan ^a,b  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

HUMAN REHABILITATION EQUIPMENT; INVERSE KINEMATICS; MOTION PLANNING; NEUROLOGY; PERTURBATION TECHNIQUES; TORQUE CONTROL;

ELBOW JOINT; ENDPOINT TRAJECTORY; HUMAN MOTOR CONTROL SYSTEMS;

ROBOTIC ARMS;

EID: 33745776712     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICORR.2005.1501130     Document Type: Conference Paper

References (18)

1. F. Mussa-Ivaldi, N. Hogan, E. Bizzi, "Neural, mechanical, and geometric factors subserving arm posture in humans," J. Neuroscience, vol. 5, pp. 2732-2743, 1985.
2. H. Krebs, M. Aisen, B. Volpe, N. Hogan, "Robot-aided neurorehabilitation: Initial application to a stroke rehabiliatation," Proceedings of the MRCAS'95 - Second International Symposium on Medical Robotics and Computer Assisted Surgery, pp. CA260-CA262, Nov. 1995.
3. S. Blakemore, D. Wolpert, C. Frith, "Why can't you tickle yourself?" Neuroreport, vol. 11, pp. R11-16, 2000.
4. R. Shadmehr and F. Mussa-Ivaldi, "Adaptive Representation of Dynamics During Learning of a Motor Task," J. Neuroscience, vol. 14(5), pp. 3208-3224, May 1994.
5. F. Gandolfo, F. Mussa-Ivaldi, and E. Bizzi, "Motor Learning by Field Approximation," Proc. Natl. Acad. Sci. USA, vol. 93, pp. 3843-3846, 1996.
6. M. Conditt, F. Gandolfo, and F. Mussa-Ivaldi, "The Motor System Does Not Learn the Dynamics of the Arm by Rote Memorization of Past Experience," The American Physiological Society, pp. 554-559, 1997.
7. H. Gomi and M. Kawato, "Human arm stiffness and equilibrium-point trajectory during multi-joint movement," Biol. Cybern., vol. 76, pp. 163-171, 1997.
8. R. Shadmehr and F. Mussa-Ivaldi, "Computational Elements of the Adaptive Controller of the Human Arm," Advances in Neural Information Processing Systems, vol. 6, pp. 1077-1084, 1994.
9. M. Jeannerod, The Neural and Behavioural Organization of Goal-Directed Movements, Oxford: Clarendon, 1988.
10. S. Scott, "Apparatus for measuring and perturbing shoulder and elbow joint positions and torques during reaching," J. Neuroscience Methods, vol. 89, pp. 119-127, 1999.
11. K. Singh and S. Scott, "A motor learning strategy reflects neural circuitry for limb control," Nature Neuroscience, vol.6, no. 4, pp. 399-403, 2003.
12. M. Kawato, "Internal models for motor control and trajectory planning," Current Opinion in Neurobiology, vol. 9, pp. 718-727, 1999.
13. S. Schaal, R. Cory, J. Nakanishi, M. Mistry, J. Peters, "Physically Consistent Nonlinear Parameter Identification of Rigid Body Dynamics," (in preparation).
14. G. Burdea, Force and Touch Feedback for Virtual Reality, New York: John Wiley & Sons, Inc., 1996.
15. C. An., C. Atkeson, J. Hollerbach, Model-Based Control of a Robot Manipulator, Cambridge, MA: The MIT Press, 1988.
16. T. Yoshikawa, Foundations of Robotics: Analysis and Control, Cambridge, MA: MIT Press, 1990.
17. L. Sciavicco, B. Siciliano, Modeling and Control of Robot Manipulators, New York: The McGraw-Hill Companies, Inc., 1996.
18. P. Morasso, "Spatial control of arm movements," Experimental Brain Research, vol. 42, pp. 223-227, 1981.