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Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation
OBJECTIVE: We investigated how participants controlling a humanoid robotic arm’s 3D endpoint position by moving their own hand are influenced by the robot’s postures. We hypothesized that control would be facilitated (impeded) by biologically plausible (implausible) postures of the robot. BACKGROUND...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
SAGE Publications
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8935468/ https://www.ncbi.nlm.nih.gov/pubmed/32809867 http://dx.doi.org/10.1177/0018720820941619 |
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author | Mick, Sébastien Badets, Arnaud Oudeyer, Pierre-Yves Cattaert, Daniel De Rugy, Aymar |
author_facet | Mick, Sébastien Badets, Arnaud Oudeyer, Pierre-Yves Cattaert, Daniel De Rugy, Aymar |
author_sort | Mick, Sébastien |
collection | PubMed |
description | OBJECTIVE: We investigated how participants controlling a humanoid robotic arm’s 3D endpoint position by moving their own hand are influenced by the robot’s postures. We hypothesized that control would be facilitated (impeded) by biologically plausible (implausible) postures of the robot. BACKGROUND: Kinematic redundancy, whereby different arm postures achieve the same goal, is such that a robotic arm or prosthesis could theoretically be controlled with less signals than constitutive joints. However, congruency between a robot’s motion and our own is known to interfere with movement production. Hence, we expect the human-likeness of a robotic arm’s postures during endpoint teleoperation to influence controllability. METHOD: Twenty-two able-bodied participants performed a target-reaching task with a robotic arm whose endpoint’s 3D position was controlled by moving their own hand. They completed a two-condition experiment corresponding to the robot displaying either biologically plausible or implausible postures. RESULTS: Upon initial practice in the experiment’s first part, endpoint trajectories were faster and shorter when the robot displayed human-like postures. However, these effects did not persist in the second part, where performance with implausible postures appeared to have benefited from initial practice with plausible ones. CONCLUSION: Humanoid robotic arm endpoint control is impaired by biologically implausible joint coordinations during initial familiarization but not afterwards, suggesting that the human-likeness of a robot’s postures is more critical for control in this initial period. APPLICATION: These findings provide insight for the design of robotic arm teleoperation and prosthesis control schemes, in order to favor better familiarization and control from their users. |
format | Online Article Text |
id | pubmed-8935468 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | SAGE Publications |
record_format | MEDLINE/PubMed |
spelling | pubmed-89354682022-03-22 Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation Mick, Sébastien Badets, Arnaud Oudeyer, Pierre-Yves Cattaert, Daniel De Rugy, Aymar Hum Factors Motor Behavior OBJECTIVE: We investigated how participants controlling a humanoid robotic arm’s 3D endpoint position by moving their own hand are influenced by the robot’s postures. We hypothesized that control would be facilitated (impeded) by biologically plausible (implausible) postures of the robot. BACKGROUND: Kinematic redundancy, whereby different arm postures achieve the same goal, is such that a robotic arm or prosthesis could theoretically be controlled with less signals than constitutive joints. However, congruency between a robot’s motion and our own is known to interfere with movement production. Hence, we expect the human-likeness of a robotic arm’s postures during endpoint teleoperation to influence controllability. METHOD: Twenty-two able-bodied participants performed a target-reaching task with a robotic arm whose endpoint’s 3D position was controlled by moving their own hand. They completed a two-condition experiment corresponding to the robot displaying either biologically plausible or implausible postures. RESULTS: Upon initial practice in the experiment’s first part, endpoint trajectories were faster and shorter when the robot displayed human-like postures. However, these effects did not persist in the second part, where performance with implausible postures appeared to have benefited from initial practice with plausible ones. CONCLUSION: Humanoid robotic arm endpoint control is impaired by biologically implausible joint coordinations during initial familiarization but not afterwards, suggesting that the human-likeness of a robot’s postures is more critical for control in this initial period. APPLICATION: These findings provide insight for the design of robotic arm teleoperation and prosthesis control schemes, in order to favor better familiarization and control from their users. SAGE Publications 2020-08-18 2022-03 /pmc/articles/PMC8935468/ /pubmed/32809867 http://dx.doi.org/10.1177/0018720820941619 Text en Copyright © 2020, The Author(s) https://creativecommons.org/licenses/by-nc/4.0/This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage). |
spellingShingle | Motor Behavior Mick, Sébastien Badets, Arnaud Oudeyer, Pierre-Yves Cattaert, Daniel De Rugy, Aymar Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation |
title | Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation |
title_full | Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation |
title_fullStr | Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation |
title_full_unstemmed | Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation |
title_short | Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation |
title_sort | biological plausibility of arm postures influences the controllability of robotic arm teleoperation |
topic | Motor Behavior |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8935468/ https://www.ncbi.nlm.nih.gov/pubmed/32809867 http://dx.doi.org/10.1177/0018720820941619 |
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