title: The concept of mobility in single- and double handed manipulation.
abstract: The concept of mobility describes an important property of the human body when performing manipulation tasks. It describes, in a sense, how easy it is to accelerate a link or a point on the manipulator. Most often it is calculated for the end-link or end-point of the manipulator, since these are important for the control objective of the manipulator. Mobility is the inverse of the inertia experienced by a force acting on the end-point, or a combined force and torque acting on the end-link. The concept has been used in studies of reaching tasks with one arm, but thus far not for bi-manual manipulation. We present here the concept for both single-handed and double-handed manipulation, in a general manner which includes any type of grip of the hands on the object. The use of the concept is illustrated with data on the left and right arm in a golf swing.
authors.affiliation: Department of Information Technology, Uppsala University, Uppsala, Sweden. Electronic address: kjartan.halvorsen@it.uu.se.
authors.forename: Kjartan
authors.initials: K
authors.lastname: Halvorsen
authors.affiliation: The Swedish School of Sport and Health Sciences, Stockholm, Sweden; Institution CLINTEC, Karolinska Institute, Stockholm, Sweden.
authors.forename: Fredrik
authors.initials: F
authors.lastname: Tinmark
authors.affiliation: The Swedish School of Sport and Health Sciences, Stockholm, Sweden; Institution CLINTEC, Karolinska Institute, Stockholm, Sweden.
authors.forename: Anton
authors.initials: A
authors.lastname: Arndt
mesh_terms: D001132:Arm / Q000502:physiology; D006055:Golf; D006225:Hand / Q000502:physiology*; D018737:Hand Strength / Q000502:physiology*; D006801:Humans; D007700:Kinetics; D008954:Models, Biological; D013647:Task Performance and Analysis; D019415:Torque
keywords: Impedance control; Inertia; Kinetics; Motor control