| Records |
| Author |
Berman, S.; Liebermann, D.G.; McIntyre, J. |
| Title |
Constrained Motion Control on a Hemispherical Surface – Path Planning |
Type |
Journal Article |
| Year |
2014 |
Publication |
Journal of Neurophysiology |
Abbreviated Journal |
J Neurophysiol |
| Volume |
111 |
Issue  |
5 |
Pages |
954-968 |
| Keywords |
Constrained motion; geodesics; path planning |
| Abstract |
Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding the paths and their relationship with task dynamics, we simulated various control policies. The simulations demonstrated that following a geodesic path is advantageous not only in terms of path length, but also in terms of motor planning and sensitivity to motor command errors. These stem from the fact that the applied forces lie in a single plane (that of the geodesic path itself). To test whether human subjects indeed follow the geodesic, and to see how such motion compares to other paths, we recorded movements in a virtual haptic-visual environment from eleven healthy subjects. The task was comprised of point-to-point motion between targets at two elevations (30 degrees and 60 degrees ). Three typical choices of paths were observed from a frontal plane projection of the paths: circular arcs, straight lines, and arcs close to the geodesic path for each elevation. Based on the measured hand paths, we applied k-means blind separation to divide the subjects into three groups and compared performance indicators. The analysis confirmed that subjects who followed paths closest to the geodesic produced faster and smoother movements, compared to the others. The 'better' performance reflects the dynamical advantages of following the geodesic path, as shown by the simulations, and may also reflect invariant features of the control policies used to produce such a surface-constrained motion. |
| Address |
Ben-Gurion University of the Negev |
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| Language |
English |
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| ISSN |
0022-3077 |
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| Notes |
PMID:24259548 |
Approved |
no |
| Call Number |
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Serial |
72 |
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| Author |
Liebermann, D.G.; Berman, S.; Weiss, P.L.T.; Levin, M.F. |
| Title |
Kinematics of reaching movements in a 2-d virtual environment in adults with and without stroke |
Type |
Journal Article |
| Year |
2012 |
Publication |
IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society |
Abbreviated Journal |
IEEE Trans Neural Syst Rehabil Eng |
| Volume |
20 |
Issue |
6 |
Pages |
778-787 |
| Keywords |
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| Abstract |
Virtual reality environments are increasingly being used for upper limb rehabilitation in poststroke patients. Our goal was to determine if arm reaching movements made in a 2-D video-capture virtual reality environment are similar to those made in a comparable physical environment. We compared arm and trunk kinematics for reaches made with the right, dominant arm to three targets (14 trials per target) in both environments by 16 adults with right poststroke hemiparesis and by eight healthy age-matched controls. Movement kinematics were recorded with a three-camera optoelectronic system at 100 samples/s. Reaching movements made by both control and stroke subjects were affected by viewing the targets in the video-capture 2-D virtual environment. Movements were slower, shorter, less straight, less accurate and involved smaller ranges of shoulder and elbow joint excursions for target reaches in the virtual environment compared to the physical environment in all subjects. Thus, there was a decrease in the overall movement quality for movements made in the 2-D virtual environment. This suggests that 2-D video-capture virtual reality environments should be used with caution when the goal of the rehabilitation program is to improve the quality of movement patterns of the upper limb. |
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English |
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Edition |
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| ISSN |
1534-4320 |
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| Notes |
PMID:22907972 |
Approved |
no |
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Serial |
28 |
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| Author |
Liebermann, D.G.; Krasovsky, T.; Berman, S. |
| Title |
Planning maximally smooth hand movements constrained to nonplanar workspaces |
Type |
Journal Article |
| Year |
2008 |
Publication |
Journal of Motor Behavior |
Abbreviated Journal |
J Mot Behav |
| Volume |
40 |
Issue |
6 |
Pages |
516-531 |
| Keywords |
Adaptation, Physiological; Adult; Algorithms; Female; Hand/*physiology; Humans; *Intention; Kinesthesis/*physiology; Male; Models, Statistical; Movement/*physiology; Psychomotor Performance/*physiology; Reference Values; Writing |
| Abstract |
The article characterizes hand paths and speed profiles for movements performed in a nonplanar, 2-dimensional workspace (a hemisphere of constant curvature). The authors assessed endpoint kinematics (i.e., paths and speeds) under the minimum-jerk model assumptions and calculated minimal amplitude paths (geodesics) and the corresponding speed profiles. The authors also calculated hand speeds using the 2/3 power law. They then compared modeled results with the empirical observations. In all, 10 participants moved their hands forward and backward from a common starting position toward 3 targets located within a hemispheric workspace of small or large curvature. Comparisons of modeled observed differences using 2-way RM-ANOVAs showed that movement direction had no clear influence on hand kinetics (p < .05). Workspace curvature affected the hand paths, which seldom followed geodesic lines. Constraining the paths to different curvatures did not affect the hand speed profiles. Minimum-jerk speed profiles closely matched the observations and were superior to those predicted by 2/3 power law (p < .001). The authors conclude that speed and path cannot be unambiguously linked under the minimum-jerk assumption when individuals move the hand in a nonplanar 2-dimensional workspace. In such a case, the hands do not follow geodesic paths, but they preserve the speed profile, regardless of the geometric features of the workspace. |
| Address |
Department of Physical Therapy, The Stanley Steyer School of Health Professions, Sackler Faculty of Medicine, Tel Aviv University, Israel. dlieberm@post.tau.ac.il |
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English |
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0022-2895 |
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| Notes |
PMID:18980905 |
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no |
| Call Number |
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Serial |
33 |
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