Section: New Software and Platforms

AUCTUS-RT

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.

• Contact: Joshua Pickard

• URL: https://gitlab.inria.fr/auctus/redundancy-tubes