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| Research article summary (published 29 Sep 2002): |
Deformation of angle profiles in forward kinematics for nullifying end-point offset while preserving movement properties.
Full Abstract
This work describes a new approach that allows an angle-domain human movement model to generate, via forward kinematics, Cartesian-space human movement representation with otherwise inevitable end-point offset nullified but much of the kinematic authenticity retained. The approach incorporates a rectification procedure that determines the minimum postural angle change at the final frame to correct the end-point offset, and a deformation procedure that deforms the angle profile accordingly to preserve maximum original kinematic authenticity. Two alternative deformation schemes, named amplitude-proportional (AP) and time-proportional (TP) schemes, are proposed and formulated. As an illustration and empirical evaluation, the proposed approach, along with two deformation schemes, was applied to a set of target-directed right-hand reaching movements that had been previously measured and modeled. The evaluation showed that both deformation schemes nullified the final frame end-point offset and significantly reduced time-averaged position errors for the end-point as well as the most distal intermediate joint while causing essentially no change in the remaining joints. A comparison between the two schemes based on time-averaged joint and end-point position errors indicated that overall the TP scheme outperformed the AP scheme. In addition, no statistically significant difference in time-averaged angle error was identified between the raw prediction and either of the deformation schemes, nor between the two schemes themselves, suggesting minimal angle-domain distortion incurred by the deformation.
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Author information
Author/s: Zhang, Xudong (X);
Affiliation: Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, 61801, USA. xudong(-atsign-)uiuc.edu
Journal and publication information
Publication Type: Comparative Study; Evaluation Studies; Journal Article
Journal: Journal of biomechanical engineering (J Biomech Eng), published in United States. (Language: eng)
Reference: 2002-Oct; vol 124 (issue 5) : pp 490-5
Dates: Created 2002/10/30; Completed 2003/04/24; Revised 2006/11/15;
PMID: 12405590, status: MEDLINE (last retrieval date: 11/6/2008)
Sourced from the National Library of Medicine. Abstract text and other information may be subject to copyright.
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