| The manipulability: a new index for quantifying movement capacities of upper extremity. | |
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MedLine Citation:
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PMID: 22176485 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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In this work, it is proposed to evaluate the upper-limb movements through a global index of performance borrowed from the field of robotics: the manipulability. For a given posture, this index quantifies the set of velocities that can be achieved at the wrist in all the Cartesian directions. The manipulability can be represented by an ellipsoid from which the volume and shape related parameters can be derived. During a reach to grasp movement, the ellipsoid obtained from experiment presented a flattened shape along the forearm longitudinal axis and an increased volume as the arm was extended. From this study, it is concluded that: (1) the ellipsoid volume reflects well the ability to generate speed at the wrist which is effectively maximal for an extended posture; (2) if maximal velocity is an important parameter it might be advisable to primarily move the hand perpendicularly to the forearm longitudinal axis. Practitioner Summary: The interest of manipulability indices is that they evaluate globally a posture of the upper-limb in relation to a given task. This original parameter could help to design environments or devices in order that the adopted postures maximise one particular aspect of the performance, i.e. the velocity of the hand. |
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Authors:
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Julien Jacquier-Bret; Philippe Gorce; Nasser Rezzoug |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: Ergonomics Volume: 55 ISSN: 1366-5847 ISO Abbreviation: Ergonomics Publication Date: 2012 Jan |
Date Detail:
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Created Date: 2011-12-19 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 0373220 Medline TA: Ergonomics Country: England |
Other Details:
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Languages: eng Pagination: 69-77 Citation Subset: IM; S |
Affiliation:
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a HandiBio - EA 4322, Université du Sud, Toulon - Var , 83957 , La Garde Cedex , France. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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