The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We identify frequency limitations on linearity in two-dimensional (2-D) motion for three subject groups: young (mean and /spl sigma/: 23/spl plusmn/3), old (72/spl plusmn/2), and movement-disabled (65/spl plusmn/16). The linearity of the relationship between input and output - i.e., between target tracking signals and resulting human upper extremity motion - is quantified using adaptive coherence estimation. We show that linearity decreases with input frequency. Old and disabled subjects' 2-D motion is almost completely nonlinear. Nonlinear filtering therefore will likely improve precision in rehabilitative and surgical teleoperation.

Notes

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Text Reference

Cameron Riviere and N. V. Thakor, "Linearity of human commands for telerobotics," Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, November, 1994, pp. 1039 - 1040.

BibTeX Reference

@inproceedings{Riviere_1994_1266,
   author = "Cameron Riviere and N. V. Thakor",
   title = "Linearity of human commands for telerobotics",
   booktitle = "Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "1039 - 1040",
   month = "November",
   year = "1994",
   volume = "2",
}

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