2022
Peña-Pérez, Nuria; Eden, Jonathan; Burdet, Etienne; Farkhatdinov, Ildar; Takagi, Atsushi
Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks Proceedings Article
In: 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 785–789, 2022, (ISSN: 2694-0604).
Abstract | Links | BibTeX | Tags: Biology, Haptic interfaces, Impedance, Resource management, Task analysis, Torque, Wrist
@inproceedings{perez_lateralization_2022,
title = {Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks},
author = {Nuria Peña-Pérez and Jonathan Eden and Etienne Burdet and Ildar Farkhatdinov and Atsushi Takagi},
doi = {10.1109/EMBC48229.2022.9871013},
year = {2022},
date = {2022-07-01},
urldate = {2022-07-01},
booktitle = {2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)},
pages = {785–789},
abstract = {In activities of daily living that require bimanual coordination, humans often assign a role to each hand. How do task requirements affect this role assignment? To address this question, we investigated how healthy right-handed participants bimanually manipulated a static or dynamic virtual object using wrist flexion/extension while receiving haptic feedback through the interacting object's torque. On selected trials, the object shook strongly to destabilize the bimanual grip. Our results show that participants reacted to the shaking by increasing their wrist co-contraction. Unlike in previous work, handedness was not the determining factor in choosing which wrist to co-contract to stabilize the object. However, each participant preferred to co-contract one hand over the other, a choice that was consistent for both the static and dynamic objects. While role allocation did not seem to be affected by task requirements, it may have resulted in different motor behaviours as indicated by the changes in the object torque. Further investigation is needed to elucidate the factors that determine the preference in stabilizing with either the dominant or non-dominant hand.},
note = {ISSN: 2694-0604},
keywords = {Biology, Haptic interfaces, Impedance, Resource management, Task analysis, Torque, Wrist},
pubstate = {published},
tppubtype = {inproceedings}
}
In activities of daily living that require bimanual coordination, humans often assign a role to each hand. How do task requirements affect this role assignment? To address this question, we investigated how healthy right-handed participants bimanually manipulated a static or dynamic virtual object using wrist flexion/extension while receiving haptic feedback through the interacting object's torque. On selected trials, the object shook strongly to destabilize the bimanual grip. Our results show that participants reacted to the shaking by increasing their wrist co-contraction. Unlike in previous work, handedness was not the determining factor in choosing which wrist to co-contract to stabilize the object. However, each participant preferred to co-contract one hand over the other, a choice that was consistent for both the static and dynamic objects. While role allocation did not seem to be affected by task requirements, it may have resulted in different motor behaviours as indicated by the changes in the object torque. Further investigation is needed to elucidate the factors that determine the preference in stabilizing with either the dominant or non-dominant hand.
Peña-Pérez, Nuria; Eden, Jonathan; Ivanova, Ekaterina; Burdet, Etienne; Farkhatdinov, Ildar
Is a Robot Needed to Modify Human Effort in Bimanual Tracking? Journal Article
In: IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8069–8075, 2022, ISSN: 2377-3766, (Conference Name: IEEE Robotics and Automation Letters).
Abstract | Links | BibTeX | Tags: design and human factors, Haptic interfaces, human-centered robo- tics, Perturbation methods, Rehabilitation robotics, Robots, Task analysis, Training, Visualization, Wrist
@article{pena_perez_is_2022,
title = {Is a Robot Needed to Modify Human Effort in Bimanual Tracking?},
author = {Nuria Peña-Pérez and Jonathan Eden and Ekaterina Ivanova and Etienne Burdet and Ildar Farkhatdinov},
doi = {10.1109/LRA.2022.3183753},
issn = {2377-3766},
year = {2022},
date = {2022-07-01},
urldate = {2022-07-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {3},
pages = {8069–8075},
abstract = {Robotic bimanual training can benefit from understanding how to modify human motor effort in bimanual tasks. We addressed this issue by carrying out a study to investigate whether and how penalizing the use of one hand could alter the hands’ effort distribution. Actuated haptic perturbations and alterations of the visual feedback of the right hand were tested on a bimanual tracking task with 16 healthy right-handed participants. For each feedback modality (haptic or visual), both a disturbance and a perturbation requiring additional effort from the right hand were implemented. The results showed that the participants were able to adjust to these four perturbations, and perceived them correctly as something that disturbed the dominant hand. Contrary to our expectations, the bimanual effort distribution changes induced by the haptic perturbations were not uniform across subjects. However, the visual disturbance induced most participants to use only their unperturbed left hand (with only 2/16 participants reporting a different behaviour). This suggests that a visual disturbance could be used to alter the effort distribution among the two hands. Clinical validation of these findings on hemiplegic patients may help simplify the design of robotic training interfaces.},
note = {Conference Name: IEEE Robotics and Automation Letters},
keywords = {design and human factors, Haptic interfaces, human-centered robo- tics, Perturbation methods, Rehabilitation robotics, Robots, Task analysis, Training, Visualization, Wrist},
pubstate = {published},
tppubtype = {article}
}
Robotic bimanual training can benefit from understanding how to modify human motor effort in bimanual tasks. We addressed this issue by carrying out a study to investigate whether and how penalizing the use of one hand could alter the hands’ effort distribution. Actuated haptic perturbations and alterations of the visual feedback of the right hand were tested on a bimanual tracking task with 16 healthy right-handed participants. For each feedback modality (haptic or visual), both a disturbance and a perturbation requiring additional effort from the right hand were implemented. The results showed that the participants were able to adjust to these four perturbations, and perceived them correctly as something that disturbed the dominant hand. Contrary to our expectations, the bimanual effort distribution changes induced by the haptic perturbations were not uniform across subjects. However, the visual disturbance induced most participants to use only their unperturbed left hand (with only 2/16 participants reporting a different behaviour). This suggests that a visual disturbance could be used to alter the effort distribution among the two hands. Clinical validation of these findings on hemiplegic patients may help simplify the design of robotic training interfaces.