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Biess, A.; Liebermann, D.G.; Flash, T. |
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Title  |
A computational model for redundant human three-dimensional pointing movements: integration of independent spatial and temporal motor plans simplifies movement dynamics |
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Journal Article |
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Year |
2007 |
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The Journal of Neuroscience : the Official Journal of the Society for Neuroscience |
Abbreviated Journal |
J Neurosci |
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27 |
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48 |
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13045-13064 |
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Analysis of Variance; Arm/physiology; Biomechanics; *Computer Simulation; Humans; *Models, Biological; Movement/*physiology; *Nonlinear Dynamics; Posture/physiology; Psychomotor Performance/*physiology; Range of Motion, Articular/physiology; Reaction Time/physiology; Space Perception/*physiology; Time Factors; Torque |
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Few computational models have addressed the spatiotemporal features of unconstrained three-dimensional (3D) arm motion. Empirical observations made on hand paths, speed profiles, and arm postures during point-to-point movements led to the assumption that hand path and arm posture are independent of movement speed, suggesting that the geometric and temporal properties of movements are decoupled. In this study, we present a computational model of 3D movements for an arm with four degrees of freedom based on the assumption that optimization principles are separately applied at the geometric and temporal levels of control. Geometric properties (path and posture) are defined in terms of geodesic paths with respect to the kinetic energy metric in the Riemannian configuration space. Accordingly, a geodesic path can be generated with less muscular effort than on any other, nongeodesic path, because the sum of all configuration-speed-dependent torques vanishes. The temporal properties of the movement (speed) are determined in task space by minimizing the squared jerk along the selected end-effector path. The integration of both planning levels into a single spatiotemporal representation simplifies the control of arm dynamics along geodesic paths and results in movements with near minimal torque change and minimal peak value of kinetic energy. Thus, the application of Riemannian geometry allows for a reconciliation of computational models previously proposed for the description of arm movements. We suggest that geodesics are an emergent property of the motor system through the exploration of dynamical space. Our data validated the predictions for joint trajectories, hand paths, final postures, speed profiles, and driving torques. |
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Department of Mathematics, Weizmann Institute of Science, 76100 Rehovot, Israel. armin.biess@weizmann.ac.il |
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0270-6474 |
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PMID:18045899 |
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35 |
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Liebermann, D.G.; Ben-David, J.; Schweitzer, N.; Apter, Y.; Parush, A. |
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Title |
A field study of braking reactions during driving I: Triggering and modulation |
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Journal Article |
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Year |
1995 |
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Ergonomics |
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38 |
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9 |
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1894-1902 |
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The present experiment was carried out to explore the response of driving subjects to emergency braking. The field trial consisted of driving behind a leading vehicle while the following drivers' responses were recorded by telemetry. A group of 51 individuals performed a series of trials at two driving speeds (60 and 80km/h), two following distances (6 and 12 m), and two braking conditions (real and dummy braking). Not all of these subjects completed all conditions or the minimum number of trials. The dependent variables were the total braking time (TBT) and its subcomponents: braking reaction time (BRT), and accelerator-to-brake movement time (MT). These data were analysed in three separate three-way ANOVAs with repeated measures on all factors. The results showed that when subjects were not aware of the forthcoming braking, the distance and braking conditions had major effects on all dependent variables. At the shorter following distance drivers reacted and moved faster. Similarly, when the brakes were real compared with dummy (i.e. brake lights only) drivers reacted faster. In addition, drivers reacted to onset of brake lights in 83% of the cases when dummy braking was applied, compared with 97% when real brakes were applied. Speed of driving did not show any significant effects and did not appear to influence the cognitive or attentional set to anticipate an emergency manoeuvre. These findings suggest that changes in angular velocity during optic expansion of the leading vehicle may be used as a cue to modulate braking movement, while onset of brake lights alone may be enough to trigger a ‘ballistic’ preventive response. |
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57 |
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Schweitzer, N.; Apter, Y.; Ben-David, J.; Liebermann, D.G.; Parush, A. |
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A field study of braking reactions during driving II: Minimum driver braking times |
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Journal Article |
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Year |
1995 |
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Ergonomics |
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38 |
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9 |
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1903-1910 |
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The minimum total braking time (i.e. the braking reaction time plus the accelerator-to-brake movement time) plays an important role in defining a minimum following gap (MFG). This study was designed to obtain a lower limit for this gap. Total braking times (TBT) of a group of 51 male and female young athletes were monitored during real driving conditions. Sudden braking applied by a leading private passenger vehicle initiated the trials. A within-subject design was used to study the effects of different factors on braking time. Individuals performed a series of semi-counterbalanced trials at two following distances (6 and 12 m), two speeds (60 and 80 km/h) and three expectancy stages (naïve driving, partial knowledge, and full knowledge of the forthcoming manoeuvre). A three-way repeated measures ANOVA showed no major effects of ‘speed’, but major effects of the ‘expectancy’ and the ‘distance’ factors. The experiment yielded a mean TBT of 0·678 s (SD = 0·144 s) for trials averaged over distances and speeds in the naïve condition only. The data emphasize the role played by pre-cues in the braking response prior to emergency stops. Both the level of awareness of the forthcoming manoeuvre and the distance between vehicles appear to determine the response time. The descriptive statistics presented may also provide the basis for an objective, acceptable and legally valid minimum time gap for prosecution of ‘careless’ drivers. |
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58 |
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Raveh, E.; Portnoy, S.; Friedman, J. |
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Adding vibrotactile feedback to a myoelectric-controlled hand improves performance when online visual feedback is disturbed |
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Journal Article |
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2018 |
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Human Movement Science |
Abbreviated Journal |
Hum Mov Sci |
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58 |
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32-40 |
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Myoelectric prostheses; Sensorimotor control; Upper limb amputation; Visual feedback |
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We investigated whether adding vibrotactile feedback to a myoelectric-controlled hand, when visual feedback is disturbed, can improve performance during a functional test. For this purpose, able-bodied subjects, activating a myoelectric-controlled hand attached to their right hand performed the modified Box & Blocks test, grasping and manipulating wooden blocks over a partition. This was performed in 3 conditions, using a repeated-measures design: in full light, in a dark room where visual feedback was disturbed and no auditory feedback – one time with the addition of tactile feedback provided during object grasping and manipulation, and one time without any tactile feedback. The average time needed to transfer one block was measured, and an infrared camera was used to give information on the number of grasping errors during performance of the test. Our results show that when vibrotactile feedback was provided, performance time was reduced significantly, compared with when no vibrotactile feedback was available. Furthermore, the accuracy of grasping and manipulation was improved, reflected by significantly fewer errors during test performance. In conclusion, adding vibrotactile feedback to a myoelectric-controlled hand has positive effects on functional performance when visual feedback is disturbed. This may have applications to current myoelectric-controlled hands, as adding tactile feedback may help prosthesis users to improve their functional ability during daily life activities in different environments, particularly when limited visual feedback is available or desirable. |
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Physical Therapy Department, Sackler Faculty of Medicine, Tel Aviv University, Israel. Electronic address: jason@post.tau.ac.il |
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0167-9457 |
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PMID:29353091 |
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88 |
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Liebermann, D.G.; Katz, L.; Hughes, M.D.; Bartlett, R.M.; McClements, J.; Franks, I.M. |
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Advances in the application of information technology to sport performance |
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Journal Article |
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2002 |
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Journal of Sports Sciences |
Abbreviated Journal |
J Sports Sci |
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20 |
Issue |
10 |
Pages |
755-769 |
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*Biofeedback, Psychology; *Computer Simulation; Humans; Models, Biological; Physical Education and Training/*methods; Psychomotor Performance/physiology; Sports Medicine/methods; *Task Performance and Analysis; Videotape Recording |
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This paper overviews the diverse information technologies that are used to provide athletes with relevant feedback. Examples taken from various sports are used to illustrate selected applications of technology-based feedback. Several feedback systems are discussed, including vision, audition and proprioception. Each technology described here is based on the assumption that feedback would eventually enhance skill acquisition and sport performance and, as such, its usefulness to athletes and coaches in training is critically evaluated. |
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Department of Physical Therapy, Sackler Faculty of Medicine, University of Tel Aviv, Israel |
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0264-0414 |
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PMID:12363293 |
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40 |
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