Human-like behavior of robot arms: General considerations and the handwriting task - Part II: The robot arm in handwriting

Potkonjak, V; Kostic, D; Tzafestas, S; Popovic, M; Lazarevic, M; Djordjevic, G

dc.contributor.author	Potkonjak, V	en
dc.contributor.author	Kostic, D	en
dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Popovic, M	en
dc.contributor.author	Lazarevic, M	en
dc.contributor.author	Djordjevic, G	en
dc.date.accessioned	2014-03-01T01:16:37Z
dc.date.available	2014-03-01T01:16:37Z
dc.date.issued	2001	en
dc.identifier.issn	0736-5845	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14127
dc.subject	Distributed positioning	en
dc.subject	Handwriting	en
dc.subject	Human-like motion	en
dc.subject	Human-machine analogy	en
dc.subject	Inverse kinematics	en
dc.subject	Redundancy	en
dc.subject	Virtual fatigue	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Robotics	en
dc.subject.other	Anthropometry	en
dc.subject.other	Inverse kinematics	en
dc.subject.other	Inverse problems	en
dc.subject.other	Motion control	en
dc.subject.other	Position control	en
dc.subject.other	Redundancy	en
dc.subject.other	Distributed positioning	en
dc.subject.other	Human-machine analogy	en
dc.subject.other	Virtual fatigue	en
dc.subject.other	Robotic arms	en
dc.title	Human-like behavior of robot arms: General considerations and the handwriting task - Part II: The robot arm in handwriting	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0736-5845(01)00006-0	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0736-5845(01)00006-0	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The first is based on the concept of distributed positioning which is suitable to model the "writing" task before the occurrence of fatigue symptoms. The second approach uses the concept of "virtual fatigue" (VF) which is a variable that dynamically behaves in a way analogous to the biological fatigue. VF enables the arm to reconfigure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance. (C) 2001 Elsevier Science Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Robotics and Computer-Integrated Manufacturing	en
dc.identifier.doi	10.1016/S0736-5845(01)00006-0	en
dc.identifier.isi	ISI:000169783700006	en
dc.identifier.volume	17	en
dc.identifier.issue	4	en
dc.identifier.spage	317	en
dc.identifier.epage	327	en