Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Software and Platforms


AUCTUS - Redunancy Tubes

Keyword: Variability

Functional Description: Software for modelling and analyzing human motor variabilities along a path. Currently used to study the redundant motions associated with the upper limb. Anatomical constraints for the shoulder, elbow, and wrist may be customized for a human subject using: maximal and minimal bounding regression equations, spherical polygon constraints. A constrained imprecise kinematic model of the subject is obtained and the task redundancies and joint redundancies associated with the constrained imprecise kinematic model are able to be evaluated via branch-and-bound exploration to determine achievable and non-achievable redundant motions of the human. For n redundant degrees-of-freedom, this provides an n-dimensional redundant workspace describing the human's capabilities. Along a path, this provides an (n+1)-dimensional redundant workspace tube.