– We developed a real-time controller for a 2 wherein the cursor was rotated by an additional (constant) offset angle. We compared the rates at which the hand paths converged to the steady-state trajectories. Our results demonstrate that error-augmentation can improve the rate and extent of motor learning of visuomotor rotations in healthy subjects. We also… (More)
We studied reach adaptation to a 30° visuomotor rotation to determine whether augmented error feedback can promote faster and more complete motor learning. Four groups of healthy adults reached with their unseen arm to visual targets surrounding a central starting point. A manipulandum tracked hand motion and projected a cursor onto a display immediately… (More)
We developed a real-time controller for a 2 degree-of-freedom robotic system using xPC Target. This system was used to investigate how different methods of performance error feedback can lead to faster and more complete motor learning in individuals asked to compensate for a novel visuo-motor transformation (a 30 degree rotation). Four groups of human… (More)
Abstmct-This paper presents an extension of the au-thors' previous stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work includes motion planning for legged robots over non-smooth (but known) terrain and manipulation of non-smooth objects with multiple… (More)
This paper presents the application of stratified motion planning to the robotic manipulation problem. Although the manipulation problem is a subclass of applications for stratified motion planning, the method present is general in that it is formulation in a manner independent of the object surface geometry or the kine-matics of the " fingers " of the… (More)
This paper presents an extension of stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work include motion planning for legged robots over known, nonsmooth terrain and manipulation of nonsmooth objects with multiple robotic manipulators.
Previous studies on reaching movements have shown that people can adapt to distortions that are either visuomotor (e.g., prism glasses) or mechanical (e.g., force fields) through repetitive training. Other work has shown that these two types of adaptation may share similar neural resources. One effective test of this sharing hypothesis would be to show that… (More)
Abstmct-This paper addresses a three-dimensional implementation that results in several separate manip-ulators, each with intermittent contact with a central object of known geometry, cooperatively manipulating the object to a desired new position and orientation. Rolling control of an object using redundant contact of several independent manipulators is… (More)