title: Robot-amplified manual exploration improves load identification.
abstract: We tested how manual exploration with anisotropic loading (Viscosity-Only(negative),Inertia-Only, orCombined-Load) influenced skill transfer to the isolated inertial load. Intact subjects (N=39) performed manual exploration with an anisotropic load before evaluation with prescribed circular movements. Combined-Load resulted in lower error (6.89±3.25%) compared to Inertia-Only (8.40±4.32%) and Viscosity-Only (8.17±4.13%) according to radial deviation analysis (% of trial mean radius). An analysis of sensitivity to load variation in normal and catch trials reveals performance differences were likely due to changes in feedforward mass compensation. Analysis of exploration movement revealed higher average speeds (12.0%) and endpoint forces (22.9%) withCombined-Loadexploration compared toInertia-Only. Our findings suggest that free movements amplified by negative viscosity can enhance the ability to identify changes in inertial loading.
authors.affiliation: Sensory Motor Performance Program, Rehabilitation Institute of Chicago.
authors.forename: F C
authors.initials: FC
authors.lastname: Huang
authors.affiliation: Bioengineering, University of Illinois at Chicago.
authors.forename: J L
authors.initials: JL
authors.lastname: Patton
authors.affiliation: Physical Medicine and Rehabilitation, Mechanical and Biomedical Engineering, Northwestern University.
authors.forename: F A
authors.initials: FA
authors.lastname: Mussa-Ivaldi
keywords: error-augmentation; manual control; systems modeling