Sensing small interaction forces through proprioception

Abstract Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners fo...

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Autores principales:	Fazlur Rashid, Devin Burns, Yun Seong Song
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/18983b4d0e9f4d53b8909986e96f42fc
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id	oai:doaj.org-article:18983b4d0e9f4d53b8909986e96f42fc
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spelling	oai:doaj.org-article:18983b4d0e9f4d53b8909986e96f42fc2021-11-14T12:22:29ZSensing small interaction forces through proprioception10.1038/s41598-021-01112-w2045-2322https://doaj.org/article/18983b4d0e9f4d53b8909986e96f42fc2021-11-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-01112-whttps://doaj.org/toc/2045-2322Abstract Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners for effective motor communication. The aim of this work is to investigate what affects the human’s sensitivity to the externally applied interaction forces. The hypothesis is that one way the small interaction forces are sensed is through the movement of the arm and the resulting proprioceptive signals. A pHRI setup was used to provide small interaction forces to the hand of seated participants in one of four directions, while the participants were asked to identify the direction of the push while blindfolded. The result shows that participants’ ability to correctly report the direction of the interaction force was lower with low interaction force as well as with high muscle contraction. The sensitivity to the interaction force direction increased with the radial displacement of the participant’s hand from the initial position: the further they moved the more correct their responses were. It was also observed that the estimated stiffness of the arm varies with the level of muscle contraction and robot interaction force.Fazlur RashidDevin BurnsYun Seong SongNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-10 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Fazlur Rashid Devin Burns Yun Seong Song Sensing small interaction forces through proprioception
description	Abstract Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human–robot interaction (pHRI). In physical human–human interaction (pHHI), small interaction forces are known to convey their intent between the partners for effective motor communication. The aim of this work is to investigate what affects the human’s sensitivity to the externally applied interaction forces. The hypothesis is that one way the small interaction forces are sensed is through the movement of the arm and the resulting proprioceptive signals. A pHRI setup was used to provide small interaction forces to the hand of seated participants in one of four directions, while the participants were asked to identify the direction of the push while blindfolded. The result shows that participants’ ability to correctly report the direction of the interaction force was lower with low interaction force as well as with high muscle contraction. The sensitivity to the interaction force direction increased with the radial displacement of the participant’s hand from the initial position: the further they moved the more correct their responses were. It was also observed that the estimated stiffness of the arm varies with the level of muscle contraction and robot interaction force.
format	article
author	Fazlur Rashid Devin Burns Yun Seong Song
author_facet	Fazlur Rashid Devin Burns Yun Seong Song
author_sort	Fazlur Rashid
title	Sensing small interaction forces through proprioception
title_short	Sensing small interaction forces through proprioception
title_full	Sensing small interaction forces through proprioception
title_fullStr	Sensing small interaction forces through proprioception
title_full_unstemmed	Sensing small interaction forces through proprioception
title_sort	sensing small interaction forces through proprioception
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/18983b4d0e9f4d53b8909986e96f42fc
work_keys_str_mv	AT fazlurrashid sensingsmallinteractionforcesthroughproprioception AT devinburns sensingsmallinteractionforcesthroughproprioception AT yunseongsong sensingsmallinteractionforcesthroughproprioception
_version_	1718429214208688128

Sensing small interaction forces through proprioception

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