Motion Pattern of Human Arm Reaching Point Movements Based on the Movement Primitives

被引：0

作者：

Zhao J. ^{[1
]}

Wang C. ^{[1
]}

Zhang Z. ^{[1
]}

Gong S. ^{[1
]}

机构：

[1] Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2021年 / 57卷 / 19期

关键词：

Anthropomorphic movement; Human-robot interaction; Motion pattern similarity; Movement primitives; Reaching point movement;

D O I：

10.3901/JME.2021.19.070

中图分类号：

学科分类号：

摘要：

In order to reveal the coordination relationship between swivel angle, position and posture of the end of the human arm, and to realize the robot's deep human-like motion planning, the motion pattern of the human arm reaching point movement was studied. The arrangement and combination of the movement primitives of the human arm were defined as the motion pattern of the human arm reaching point movement. The experimental data collection and processing of 3240 human arm reaching point were carried out, and the influence of the movement phases and the region of the reaching point on the motion pattern was analyzed. Compound constraint similarity, an index of motion pattern similarity based on constraint of primitive type, order change, frequency of motion pattern and frequency of connection mode of primitive, was proposed, and the optimal motion pattern of human arm reaching point was optimized. Based on this motion pattern, the reaching point movement of the human arm is reproduced by using a 7-DOF anthropomorphic robotic arms. © 2021 Journal of Mechanical Engineering.

引用

页码：70 / 78

页数：8

共 15 条

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