The handwriting problem

Potkonjak, V; Tzafestas, S; Kostic, D; Djordjevic, G; Rasic, M

dc.contributor.author	Potkonjak, V	en
dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Kostic, D	en
dc.contributor.author	Djordjevic, G	en
dc.contributor.author	Rasic, M	en
dc.date.accessioned	2014-03-01T01:19:02Z
dc.date.available	2014-03-01T01:19:02Z
dc.date.issued	2003	en
dc.identifier.issn	10709932	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15334
dc.subject	Handwriting	en
dc.subject	Human-like motion	en
dc.subject	Humanoid	en
dc.subject	Man-machine analogy	en
dc.subject	Redundancy resolution	en
dc.subject	Robot fatigue	en
dc.subject.other	Anthropomorphic robots	en
dc.subject.other	Artificial intelligence	en
dc.subject.other	Computer simulation	en
dc.subject.other	End effectors	en
dc.subject.other	Inverse kinematics	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion control	en
dc.subject.other	Optimization	en
dc.subject.other	Redundant manipulators	en
dc.subject.other	Robot applications	en
dc.subject.other	Robotic arms	en
dc.subject.other	Robotics	en
dc.subject.other	Distributed positioning	en
dc.subject.other	Handwriting problem	en
dc.subject.other	Human like robots	en
dc.subject.other	Penalty functions	en
dc.subject.other	Virtual fatigue model	en
dc.subject.other	Man machine systems	en
dc.title	The handwriting problem	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/MRA.2003.1191709	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MRA.2003.1191709	en
heal.publicationDate	2003	en
heal.abstract	Two approaches to model and control a human-like motion of robot arms are proposed. The first is suggested as a good model of arm motion in the phase where fatigue does not appear. The prescribed motion of the end-effector is distributed to a redundant number of arm joints in accordance to their acceleration capabilities. For the phase where fatigue appears, the concept of virtual fatigue is proposed. This artificial variable, which is based on robot dynamics, emulates the progress of biological fatigue. Writing in the presence of fatigue is also analyzed, applying the method of the so-called ""virtual fatigue"".	en
heal.journalName	IEEE Robotics and Automation Magazine	en
dc.identifier.doi	10.1109/MRA.2003.1191709	en
dc.identifier.volume	10	en
dc.identifier.issue	1	en
dc.identifier.spage	35	en
dc.identifier.epage	46	en