Analysis of accuracy in pointing with redundant hand-held tools : a geometric approach to the uncontrolled manifold method

• Main Authors: Widjaja, Ferdinan, Xu, Hong, Ang, Wei Tech, Burdet, Etienne, Campolo, Domenico
• Other Authors: School of Humanities and Social Sciences
• Format: Article
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/96206; http://hdl.handle.net/10220/11896
• Institution: Nanyang Technological University

This work introduces a coordinate-independent method to analyse movement variability of tasks performed with hand-held tools, such as a pen or a surgical scalpel. We extend the classical uncontrolled manifold (UCM) approach by exploiting the geometry of rigid body motions, used to describe tool conf...