Section: New Results

Redundancy tube

A set-based approach for modelling the human upper-limb and its complex articular constraints as a 7-degree-of-freedom (dof) constrained imprecise kinematic chain is formulated and implemented in the AUCTUS-RT software. This software allows to easily customize the geometric parameters and articular constraints. This permits to adapt the upper-limb model to each unique human subject and may also be used to model sets of human subjects. Various visualization tools are available for Python and Matlab to aid in the selection of appropriate articular constraints. When given a task with m redundant dofs and the desired workspace resolution, the software is capable of computing certified inside and outside regions of the (m+1)-dimensional redundant workspace associated with the task and upper-limb model. When a temporal dimension is added to the task description, the redundant workspace varies over time and produces a tube of redundant motions, which we refer to as the redundancy tube. The software accepts spatial-temporal task descriptions and allows to compute the full redundancy tube or slices of the tube. Furthermore, the software allows to model individual and/or sets of trajectories to describe tasks exactly or with varying level of uncertainties. Much effort has been put into improving the efficiency of the redundancy tube evaluations and parallel computing, both locally and non-locally via PlaFRIM, using OpenMP is supported. The AUCTUS-RT software is currently being used for the ongoing study of human motor-variabilities for the AUCTUS Mover project.

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