The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Participants lifted a canister by its handle while balancing a ball on the lid. Experiment 1 allowed object rotation prior to lifting. A lifting comfort zone was measured by the variability in object orientation at lift; its size depended on the object mass and required task precision. The amount of pre-lift rotation correlated with the resulting change in lifting capability, as measured for different object orientations. Experiment 2 required direct grasping, without preparatory rotation. Task completion time and success rate decreased, and initial object orientation affected pre-lift time. Results suggest that lifting from the comfort zone produces more robust performance at a cost of slower completion; moreover, physical rotation could be replaced by mental planning when direct grasping is enforced.

Keywords

preparatory manipulation, object rotation, lifting capability, alternative movement strategies

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Computer Graphics Lab

Number of pages: 17

Note: This is a preprint of an article whose final and definitive form has been published in the Journal of Motor Behavior, available online at: http://heldref.metapress.com/openurl.asp?genre=article&id=doi:10.1080/00222890903269195

Text Reference

Lillian Y. Chang, Roberta L. Klatzky, and Nancy Pollard, "Selection criteria for preparatory object rotation in manual lifting actions," Journal of Motor Behavior, Vol. 42, No. 1, January, 2010, pp. 11 - 27.

BibTeX Reference

@article{Chang_2010_6397,
   author = "Lillian Y. Chang and Roberta L. Klatzky and Nancy Pollard",
   title = "Selection criteria for preparatory object rotation in manual lifting actions",
   journal = "Journal of Motor Behavior",
   pages = "11 - 27",
   month = "January",
   year = "2010",
   volume = "42",
   number = "1",
   Notes = "This is a preprint of an article whose final and definitive form has been published in the Journal of Motor Behavior, available online at: http://heldref.metapress.com/openurl.asp?genre=article&id=doi:10.1080/00222890903269195"
}

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