Human Like Handwriting

We have con"rmed from human arm movement measurement on the sagittal plane that the highest position in the vertical direction where the hand passes through changes according to the motion duration. In this paper, we propose an estimation algorithm of the position where the hand passes through according to the variation in the motion duration. We add the algorithm into the hardware of the trajectory formation model, i.e., the forward inverse relaxation model, which is the trajectory formation model based on the minimum commanded torque change criterion. Finally, we show that the model can reproduce the same trajectories as the human trajectories at various motion durations on the sagittal plane.

We con"rmed from human arm movement measurement on the sagittal plane that the highest position in the vertical direction where the hand passes through changes according to the motion duration. The minimum commanded torque change criterion is one of the optimal criteria for a trajectory formation in a reaching movement. We examined whether the criterion can explain the highest position change on the sagittal plane movement for various motion durations. This shows the possibility that the position where the hand passes through, which changes according to the motion duration, can be estimated by using the di!erential coe$cient of the criterion with respect to the hand height with the amount of change in the hand height of measurement trajectory.

This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effector's motion ...

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The "rst is based on the concept of distributed positioning which is suitable to model the`writinga task before the occurrence of fatigue symptoms. The second approach uses the concept of`virtual fatiguea (<F) which is a variable that dynamically behaves in a way analogous to the biological fatigue. <F enables the arm to recon"gure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

This paper (Part II) investigates the motion of the redundant anthropomorphic arm during the writing task.Two approaches are applied. The first is based on the concept of distributed positioning, and the second on the concept of ''virtual fatigue'', which is a variable that dynamically behaves in a way analogous to biological fatigue.

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The "rst is based on the concept of distributed positioning which is suitable to model the`writinga task before the occurrence of fatigue symptoms. The second approach uses the concept of`virtual fatiguea (<F) which is a variable that dynamically behaves in a way analogous to the biological fatigue. <F enables the arm to recon"gure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The "rst is based on the concept of distributed positioning which is suitable to model the`writinga task before the occurrence of fatigue symptoms. The second approach uses the concept of`virtual fatiguea (<F) which is a variable that dynamically behaves in a way analogous to the biological fatigue. <F enables the arm to recon"gure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The "rst is based on the concept of distributed positioning which is suitable to model the`writinga task before the occurrence of fatigue symptoms. The second approach uses the concept of`virtual fatiguea (<F) which is a variable that dynamically behaves in a way analogous to the biological fatigue. <F enables the arm to recon"gure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The "rst is based on the concept of distributed positioning which is suitable to model the`writinga task before the occurrence of fatigue symptoms. The second approach uses the concept of`virtual fatiguea (<F) which is a variable that dynamically behaves in a way analogous to the biological fatigue. <F enables the arm to recon"gure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The "rst is based on the concept of distributed positioning which is suitable to model the`writinga task before the occurrence of fatigue symptoms. The second approach uses the concept of`virtual fatiguea (<F) which is a variable that dynamically behaves in a way analogous to the biological fatigue. <F enables the arm to recon"gure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems are brought into contact and the relevant dynamic eects analysed. The eects are: rigid-bodycontact force, elastodynamics in contact zone, friction in contact points, elastic deformation in torque transmission, impact, etc. The general model is then applied to some more concrete problems in order to discuss some eects in detail. The control strategy is considered for each concrete problem and the simulation results are presented. The work is organized in two parts dedicated to ®rst the general model, and second model application and simulation. # 1998 Elsevier Science Ltd. All rights reserved. Mechanism and Machine Theory 34 (1999) 923±942 0094-114X/99/$ -see front matter # 1998 Elsevier Science Ltd. All rights reserved. PII: S 0 0 9 4 -1 1 4 X ( 9 7 ) 0 0 0 9 1 -8 PERGAMON

Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems are brought into contact and the relevant dynamic eects analysed. The eects are: rigid-bodycontact force, elastodynamics in contact zone, friction in contact points, elastic deformation in torque transmission, impact, etc. The general model is then applied to some more concrete problems in order to discuss some eects in detail. The control strategy is considered for each concrete problem and the simulation results are presented. The work is organized in two parts dedicated to ®rst the general model, and second model application and simulation. # 1998 Elsevier Science Ltd. All rights reserved. Mechanism and Machine Theory 34 (1999) 923±942 0094-114X/99/$ -see front matter # 1998 Elsevier Science Ltd. All rights reserved. PII: S 0 0 9 4 -1 1 4 X ( 9 7 ) 0 0 0 9 1 -8 PERGAMON