Criterion for human arm in reaching tasks and human-like motion planning of robotic arm

From the aspect of potential energy, human-like motion planning of robotic arm is studied. However, the potential energy is not involved in the potential criterions, because it is difficult to determine the parameters in the spring models. The minimum potential-energy criterion is improved from the angle of the influencing factors of potential coefficient. Based on a large number of experiments, the influencing factors of the spring coefficient are obtained. The factors are divided into the objective factors and the subjective factors. The objective factors are eliminated through standard processing of the experimental data and the subjective factors are classified by the clustering methodology. The exact mathematical expression of the stiffness is determined through multiple regression analysis on the basis of the influencing factors. The arms postures predicted by this new criterion and other criteria are compared with the captured real arm postures. It turns out that the arm postures predicted by the new criterion are more close to the real arm postures. This new criterion is also applied into the human-like motion planning of a 7-DOF Robai robotic arm system. These results all verity the validity of this new criterion.