Recreating life-like motion in robotic limbs

Seth Wolpert, Marvin Cho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In order to appear more natural there will be need in the future for prosthetic limbs to move in a more life-like and less mechanical manner. In this study, the motion of living limbs was characterized and formulated for the control of mechanical limbs. Trajectories of human elbow joints performing a blind reaching motion were digitized and smoothed using an A/D converter on a personal computer. Waveforms for position over time were recorded and velocity and acceleration waveforms derived from them. Trajectories were normalized with respect to time and amplitude and a polynomial curve and its first two derivatives fitted to them. Finally, the human trajectories are compared to that of a robotic arm controlled by a biologically based algorithm using artificial nerve cells.

Original languageEnglish (US)
Title of host publication1993 IEEE 19th Annual Northeasrt Bioengineering Conference
PublisherPubl by IEEE
Pages116-118
Number of pages3
ISBN (Print)0780309251
StatePublished - 1993
EventProceedings of the 1993 IEEE 19th Annual Northeast Bioengineering Conference - Newark, NJ, USA
Duration: Mar 18 1993Mar 19 1993

Other

OtherProceedings of the 1993 IEEE 19th Annual Northeast Bioengineering Conference
CityNewark, NJ, USA
Period3/18/933/19/93

All Science Journal Classification (ASJC) codes

  • Chemical Engineering(all)

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  • Cite this

    Wolpert, S., & Cho, M. (1993). Recreating life-like motion in robotic limbs. In 1993 IEEE 19th Annual Northeasrt Bioengineering Conference (pp. 116-118). Publ by IEEE.