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Sensing small interaction forces through proprioception

Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners for effecti...

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Detalles Bibliográficos
Autores principales: Rashid, Fazlur, Burns, Devin, Song, Yun Seong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8575958/
https://www.ncbi.nlm.nih.gov/pubmed/34750408
http://dx.doi.org/10.1038/s41598-021-01112-w
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author Rashid, Fazlur
Burns, Devin
Song, Yun Seong
author_facet Rashid, Fazlur
Burns, Devin
Song, Yun Seong
author_sort Rashid, Fazlur
collection PubMed
description Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners for effective motor communication. The aim of this work is to investigate what affects the human’s sensitivity to the externally applied interaction forces. The hypothesis is that one way the small interaction forces are sensed is through the movement of the arm and the resulting proprioceptive signals. A pHRI setup was used to provide small interaction forces to the hand of seated participants in one of four directions, while the participants were asked to identify the direction of the push while blindfolded. The result shows that participants’ ability to correctly report the direction of the interaction force was lower with low interaction force as well as with high muscle contraction. The sensitivity to the interaction force direction increased with the radial displacement of the participant’s hand from the initial position: the further they moved the more correct their responses were. It was also observed that the estimated stiffness of the arm varies with the level of muscle contraction and robot interaction force.
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spelling pubmed-85759582021-11-09 Sensing small interaction forces through proprioception Rashid, Fazlur Burns, Devin Song, Yun Seong Sci Rep Article Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners for effective motor communication. The aim of this work is to investigate what affects the human’s sensitivity to the externally applied interaction forces. The hypothesis is that one way the small interaction forces are sensed is through the movement of the arm and the resulting proprioceptive signals. A pHRI setup was used to provide small interaction forces to the hand of seated participants in one of four directions, while the participants were asked to identify the direction of the push while blindfolded. The result shows that participants’ ability to correctly report the direction of the interaction force was lower with low interaction force as well as with high muscle contraction. The sensitivity to the interaction force direction increased with the radial displacement of the participant’s hand from the initial position: the further they moved the more correct their responses were. It was also observed that the estimated stiffness of the arm varies with the level of muscle contraction and robot interaction force. Nature Publishing Group UK 2021-11-08 /pmc/articles/PMC8575958/ /pubmed/34750408 http://dx.doi.org/10.1038/s41598-021-01112-w Text en © The Author(s) 2021 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Rashid, Fazlur
Burns, Devin
Song, Yun Seong
Sensing small interaction forces through proprioception
title Sensing small interaction forces through proprioception
title_full Sensing small interaction forces through proprioception
title_fullStr Sensing small interaction forces through proprioception
title_full_unstemmed Sensing small interaction forces through proprioception
title_short Sensing small interaction forces through proprioception
title_sort sensing small interaction forces through proprioception
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8575958/
https://www.ncbi.nlm.nih.gov/pubmed/34750408
http://dx.doi.org/10.1038/s41598-021-01112-w
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