Handlebar Robotic System for Bimanual Motor Control and Learning Research.
| Title: | Handlebar Robotic System for Bimanual Motor Control and Learning Research. |
|---|---|
| Authors: | Cardoso LRL; Programa de Pós-Graduação Interunidades em Bioengenharia (EESC/FMRP/IQSC), University of São Paulo, São Carlos 13566-590, Brazil.; Pedro LM; Department of Mechanical Engineering, Federal University of São Carlos, São Carlos 13565-905, Brazil.; Forner-Cordero A; Biomechatronics Laboratory-Escola Politecnica, University of São Paulo, São Paulo 05508-010, Brazil. |
| Source: | Sensors (Basel, Switzerland) [Sensors (Basel)] 2021 Sep 07; Vol. 21 (18). Date of Electronic Publication: 2021 Sep 07. |
| Publication Type: | Journal Article |
| Language: | English |
| Journal Info: | Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: MEDLINE |
| Imprint Name(s): | Original Publication: Basel, Switzerland : MDPI, c2000- |
| MeSH Terms: | Robotic Surgical Procedures*; Hand ; Humans ; Movement ; Psychomotor Performance ; Upper Extremity |
| Abstract: | Robotic devices can be used for motor control and learning research. In this work, we present the construction, modeling and experimental validation of a bimanual robotic device. We tested some hypotheses that may help to better understand the motor learning processes involved in the interlimb coordination function. The system emulates a bicycle handlebar with rotational motion, thus requiring bilateral upper limb control and a coordinated sequence of joint sub-movements. The robotic handlebar is compact and portable and can register in a fast rate both position and forces independently from arms, including prehension forces. An impedance control system was implemented in order to promote a safer environment for human interaction and the system is able to generate force fields, suitable for implementing motor learning paradigms. The novelty of the system is the decoupling of prehension and manipulation forces of each hand, thus paving the way for the investigation of hand dominance function in a bimanual task. Experiments were conducted with ten healthy subjects, kinematic and dynamic variables were measured during a rotational set of movements. Statistical analyses showed that movement velocity decreased with practice along with an increase in reaction time. This suggests an increase of the task planning time. Prehension force decreased with practice. However, an unexpected result was that the dominant hand did not lead the bimanual task, but helped to correct the movement, suggesting different roles for each hand during a cooperative bimanual task. |
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| Grant Information: | NA140231 Newton Fund |
| Contributed Indexing: | Keywords: bimanual coordination; motor control; motor learning; robotic handlebar; robotic training |
| Entry Date(s): | Date Created: 20210928 Date Completed: 20210929 Latest Revision: 20240403 |
| Update Code: | 20260130 |
| PubMed Central ID: | PMC8472032 |
| DOI: | 10.3390/s21185991 |
| PMID: | 34577199 |
| Database: | MEDLINE |
Journal Article