人类与机器人:转换高尔夫推杆轨迹为机器人导引

IF 0.8 Q4 PSYCHOLOGY, DEVELOPMENTAL
Stephen R. Bested, Valentin A. Crainic, Gerome A. Manson, Luc Tremblay
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引用次数: 0

摘要

机器人设备用于在教授不同动作时提供物理指导。为了提高我们对机器人指导训练复杂动作的认识,本研究测试了不同的个人高尔夫推杆的运动学数据过滤方法,将其转换为机器人手臂使用的轨迹。当前研究的目的是确定一种简单的过滤方法,以适当地复制参与者的个人高尔夫推杆轨迹,机器人可以使用它来执行它们,比人类对手具有更高的一致性和准确性。参与者向三个目标推杆,推杆头部的三维数据被过滤,然后通过使用参与者推杆头部轨迹的一个或两个维度进行拟合。正如预期的那样,机器人采用的两种过滤方法在球端点精度和一致性方面都优于人类参与者。此外,在将过滤后的轨迹与人类参与者的轨迹进行比较后,二维方法最好地复制了人类参与者自然推杆轨迹的运动学特征,而一维方法无法复制参与者的仰泳位置。该研究表明,使用Y -forward和Z -vertical位置数据的二维滤波方法可以用于创建机器人手臂传递的精确,一致和平滑的轨迹。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Humans Versus Robots: Converting Golf Putter Trajectories for Robotic Guidance
Robotic devices are used to provide physical guidance when teaching different movements. To advance our knowledge of robotic guidance in training complex movements, this investigation tested different kinematic data filtering methods of individual’s golf putts to convert them into trajectories to be employed by a robot arm. The purpose of the current study was to identify a simple filtering method to aptly replicate participants’ individual golf putter trajectories which could be used by the robot to execute them with greater consistency and accuracy than their human counterpart. Participants putted toward three targets where three-dimensional data of the putter’s head were filtered and then fitted by using one or two dimensions of the participant’s putter head trajectories. As expected, both filtering methods employed with the robot outperformed the human participants in ball endpoint accuracy and consistency. Further, after comparing the filtered to the human participants’ trajectories, the two-dimensional method best replicated the kinematic features of human participants’ natural putter trajectory, while the one-dimensional method failed to replicate participant’s backstroke position. This investigation indicates that a two-dimensional filtering method, using Y -forward and Z -vertical position data, can be used to create accurate, consistent, and smooth trajectories delivered by a robot arm.
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来源期刊
Journal of Motor Learning and Development
Journal of Motor Learning and Development Medicine-Orthopedics and Sports Medicine
CiteScore
2.20
自引率
15.40%
发文量
13
期刊介绍: The Journal of Motor Learning and Development (JMLD) publishes peer-reviewed research that advances the understanding of movement skill acquisition and expression across the lifespan. JMLD aims to provide a platform for theoretical, translational, applied, and innovative research related to factors that influence the learning or re-learning of skills in individuals with various movement-relevant abilities and disabilities.
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