Linearity of human commands for telerobotics

Cameron N. Riviere; Nitish V. Thakor

Linearity of human commands for telerobotics

School of Medicine

Research output: Contribution to journal › Conference article › peer-review

Abstract

We identify frequency limitations on linearity in two-dimensional (2-D) motion for three subject groups: young (mean and σ: 23±3), old (72±2), and movement-disabled (65±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.

Original language	English (US)
Pages (from-to)	1039-1040
Number of pages	2
Journal	Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
Volume	16
Issue number	pt 2
State	Published - Dec 1 1994
Event	Proceedings of the 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 1 (of 2) - Baltimore, MD, USA Duration: Nov 3 1994 → Nov 6 1994

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

Cite this

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title = "Linearity of human commands for telerobotics",

abstract = "We identify frequency limitations on linearity in two-dimensional (2-D) motion for three subject groups: young (mean and σ: 23±3), old (72±2), and movement-disabled (65±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.",

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year = "1994",

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note = "Proceedings of the 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 1 (of 2) ; Conference date: 03-11-1994 Through 06-11-1994",

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T1 - Linearity of human commands for telerobotics

AU - Riviere, Cameron N.

AU - Thakor, Nitish V.

PY - 1994/12/1

Y1 - 1994/12/1

N2 - We identify frequency limitations on linearity in two-dimensional (2-D) motion for three subject groups: young (mean and σ: 23±3), old (72±2), and movement-disabled (65±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.

AB - We identify frequency limitations on linearity in two-dimensional (2-D) motion for three subject groups: young (mean and σ: 23±3), old (72±2), and movement-disabled (65±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.

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M3 - Conference article

AN - SCOPUS:0028736081

SN - 0589-1019

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JO - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings

JF - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings

IS - pt 2

T2 - Proceedings of the 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 1 (of 2)

Y2 - 3 November 1994 through 6 November 1994

ER -

Linearity of human commands for telerobotics

Abstract

ASJC Scopus subject areas

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