Structure preserving simulation of optimal index finger trajectories during grasping

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Leyendecker S, Maas R
Publication year: 2010
Conference Proceedings Title: PAMM
Pages range: 83-84


Abstract

Trajectory planning of human motion is done unconsciously by the central nervous system (CNS). To get a better understanding about how the human CNS controls movements in a particular example, we investigate the trajectory of the index finger during grasping. Varying forefinger movements are formulated as optimal control problems for constrained motion. For the solution of the optimal control problem, DMOCC (Discrete Mechanics and Optimal Control for Constrained Systems, introduced in [4]) is used. The structure preserving formulation distinguishes DMOCC from other direct transcription methods. It guarantees that certain characteristic properties of the real motion are inherited by the approximate trajectory. This is crucial, since numerical dissipation would lead to over‐ or underestimation of the joint torques. As in [2], the motion corresponding to different objective functions like total control effort, torque change, kinetic energy and jerk in the fingertip is compared.



Additional Organisation
Chair of Applied Dynamics


External institutions with authors

Technische Universität Kaiserslautern


How to cite

APA:
Leyendecker, S., & Maas, R. (2010). Structure preserving simulation of optimal index finger trajectories during grasping. In PAMM (pp. 83-84). Karlsruhe, Germany, DE.

MLA:
Leyendecker, Sigrid, and Ramona Maas. "Structure preserving simulation of optimal index finger trajectories during grasping." Proceedings of the GAMM Annual Meeting, Karlsruhe, Germany 2010. 83-84.

BibTeX: 

Last updated on 2019-18-09 at 13:23