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The concept of mobility in single- and double handed manipulation
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
2014 (English)In: Journal of Biomechanics, ISSN 0021-9290, E-ISSN 1873-2380, Vol. 47, no 14, 3569-3573 p.Article in journal (Refereed) Published
Abstract [en]

The concept of mobility describes an important property of the human body when performing manipulation tasks. It describes, in a sense, how easy it is to accelerate a link or a point on the manipulator. Most often it is calculated for the end-link or end-point of the manipulator, since these are important for the control objective of the manipulator. Mobility is the inverse of the inertia experienced by a force acting on the end-point, or a combined force and torque acting on the end-link. The concept has been used in studies of reaching tasks with one arm, but thus far not for bi-manual manipulation. We present here the concept for both single-handed and double-handed manipulation, in a general manner which includes any type of grip of the hands on the object. The use of the concept is illustrated with data on the left and right arm in a golf swing.

Place, publisher, year, edition, pages
2014. Vol. 47, no 14, 3569-3573 p.
National Category
Control Engineering Sport and Fitness Sciences
Identifiers
URN: urn:nbn:se:uu:diva-239361DOI: 10.1016/j.jbiomech.2014.09.008ISI: 000345183500020PubMedID: 25287112OAI: oai:DiVA.org:uu-239361DiVA: diva2:774848
Available from: 2014-09-18 Created: 2014-12-22 Last updated: 2017-12-05Bibliographically approved

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Halvorsen, Kjartan

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