Summary: Human Robotics

Read the summary and the most important questions on Human Robotics

• 1 Introduction and Main Concepts

  This is a preview. There are 5 more flashcards available for chapter 1
  Show more cards here

• What do you need to take into account with describing the human motor control?

  Neural processes, biomechanics and control

• What mechanisms does the CNS use to perform complex movements?

  Feedforward and feedback control

• What is feedforward control?

  In feedforward control, the motor commands are generated to a plan of the desired movement and expected behaviour. This is very important if there has to be a quick movement.

• How does motion capture work?

  On the limbs are reflective or light-emitting markers placed. These are recognized by a camera, so the position in the Cartesion space can be determined. This data can be used to reconstruct the motion of the limbs and to make models.

• What are inertial measurement units?

  These are inexpensive and compact sensor units that are typically composed of an accelerometer, gyroscope and compass. With a set of these sensors affixed to the body or integrated into clothes, a fairly accerute description of the motion can be made.

• What kind of force sensors are there and when are they used?

  For reaction forces during interaction with the environment are six-axis force sensors used. They measure Force and torque around three orthogonal axis. Ground reaction forces are measured with a force plates. Force sensors can also be integrated in objects to see how humans manipulate these objects.

• What does a EMG measure?

  The potential difference between two electrodes placed on the skin

• What is the purpose of EMG?

  To estimate how muscle activity relates to movement.

• What are the components of a virtual reality workstation?

  A robot, a visual display and auditory information.

• What are possible purposes of a VRW?

  To simulate natural environments of produce unnatural environments to see how the human reacts and channels sensory information