期刊
IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS
卷 26, 期 4, 页码 1826-1834出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JBHI.2021.3112201
关键词
Force; Task analysis; Arms; Robot kinematics; Force control; Dynamics; Trajectory; Bilateral force control; robot-mediated rehabilitation; physically-coupled tasks; arm movements
类别
资金
- National Natural Science Foundation of China [61903181]
- Shenzhen Key Laboratory of Smart Healthcare Engineering [ZDSYS20200811144003009]
- Research Foundation of Guangdong Province [2020ZDZX3001, 2019ZT08Y191]
- Shenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research Institutions [2021SHIBS0002]
- Natural Science Foundation of Guangdong Province [2020A151501401]
This study investigated bilateral force production and control in dynamic tasks, revealing significant asymmetry in force output between bilateral hands. The results show that force difference between two hands decreased with the increase of the target force, while the sensitivity to moving directions differed.
Physically-coupled bimanual tasks (activities where a force effect occurs between two human limbs) involve the coordination and cooperation of bilateral arms. Such uncertain contribution of two arms is often studied under static configuration, which is not sufficient to typify all activities of daily life (ADLs). This study aims to investigate people's bilateral force production and control in dynamic tasks. Experiments were conducted with a customized robotic system that is characterized with two handles and programmable force fields between them. Fourteen healthy right-handed human volunteers were instructed to generate force with each hand when performing predefined trajectory tracking tasks, in which the sum of forces contributed by the left and the right hand is required to equal a target force. Significant asymmetry was found in the force output between bilateral hands. With the homologous muscles activated synchronously, the contribution of the left hand was larger, while when the non-homogenous muscles were activated synchronously, the laterality was subject to the moving direction. In addition, when considering the force difference between two hands in terms of direction and magnitude, the former decreased with the increase of the target force, but the latter was more sensitive to moving directions. The results reveal the unique characteristics of non-isometric force control tasks compared with isometric ones.
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