Linearity of human commands for telerobotics

Cameron N. Riviere, Nitish V. Thakor

Research output: Contribution to journalConference articlepeer-review

Abstract

We identify frequency limitations on linearity in two-dimensional (2-D) motion for three subject groups: young (mean and σ: 23±3), old (72±2), and movement-disabled (65±16). The linearity of the relationship between input and output - i.e., between target tracking signals and resulting human upper extremity motion - is quantified using adaptive coherence estimation. We show that linearity decreases with input frequency. Old and disabled subjects' 2-D motion is almost completely nonlinear. Nonlinear filtering therefore will likely improve precision in rehabilitative and surgical teleoperation.

Original languageEnglish (US)
Pages (from-to)1039-1040
Number of pages2
JournalAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
Volume16
Issue numberpt 2
StatePublished - Dec 1 1994
EventProceedings of the 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 1 (of 2) - Baltimore, MD, USA
Duration: Nov 3 1994Nov 6 1994

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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