The concept of mobility in single- and double handed manipulation
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
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.
Control Engineering Sport and Fitness Sciences
IdentifiersURN: urn:nbn:se:uu:diva-239361DOI: 10.1016/j.jbiomech.2014.09.008ISI: 000345183500020PubMedID: 25287112OAI: oai:DiVA.org:uu-239361DiVA: diva2:774848