TY - GEN
T1 - Gradual anisometric-isometric transition for human-machine interfaces
AU - Gibo, Tricia L.
AU - Rotella, Michele F.
AU - Bastian, Amy J.
AU - Okamura, Allison M.
PY - 2011/12/26
Y1 - 2011/12/26
N2 - Human-machine interfaces (HMIs) are widely used in biomedical applications, from teleoperated surgical systems to rehabilitation devices. This paper investigates a method of control that allows an HMI to transition from anisometric to isometric mode, shifting the control input from position to force as the user's movement is gradually reduced. Two different approaches for achieving this transition are discussed: one is based on the natural system dynamics, whereas the other involves selecting and controlling dynamics. The two approaches were implemented on a custom haptic device in a targeting task. Anisometric to isometric transitioning can potentially be used for training purposes, enabling transfer of what was learned in one mode to the other, as well as novel studies of the human sensorimotor system.
AB - Human-machine interfaces (HMIs) are widely used in biomedical applications, from teleoperated surgical systems to rehabilitation devices. This paper investigates a method of control that allows an HMI to transition from anisometric to isometric mode, shifting the control input from position to force as the user's movement is gradually reduced. Two different approaches for achieving this transition are discussed: one is based on the natural system dynamics, whereas the other involves selecting and controlling dynamics. The two approaches were implemented on a custom haptic device in a targeting task. Anisometric to isometric transitioning can potentially be used for training purposes, enabling transfer of what was learned in one mode to the other, as well as novel studies of the human sensorimotor system.
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U2 - 10.1109/IEMBS.2011.6091117
DO - 10.1109/IEMBS.2011.6091117
M3 - Conference contribution
C2 - 22255340
AN - SCOPUS:84863579440
SN - 9781424441211
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4507
EP - 4510
BT - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
T2 - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Y2 - 30 August 2011 through 3 September 2011
ER -