Minimum Jerk Based Prediction of User Actions for a Ball Catching Task

Mattias Bratt, Christian Smith and Henrik I Christensen.

Abstract

The present paper examines minimum jerk models for human kinematics as a tool to predict user input in teleoperation with significant dynamics. Predictions of user input can be a powerful tool to bridge time-delays and to trigger autonomous sub-sequences. In this paper an example implementation is presented, along with the results of a pilot experiment in which a virtual reality simulation of a teleoperated ball-catching scenario is used to test the predictive power of the model. The results show that delays up to 100 ms can potentially be bridged with this approach.

Keywords: Teleoperation, prediction, minimum jerk, time delay.

Last update: 2007-06-26