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Dimensionality Reduction in Control and Coordination of the Human Hand

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6 Author(s)
Vinjamuri, R. ; Dept. of Phys. Med. & Rehabilitation, Univ. of Pittsburgh, Pittsburgh, PA, USA ; Mingui Sun ; Cheng-Chun Chang ; Heung-No Lee
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The concept of kinematic synergies is proposed to address the dimensionality reduction problem in control and coordination of the human hand. This paper develops a method for extracting kinematic synergies from joint-angular-velocity profiles of hand movements. Decomposition of a limited set of synergies from numerous movements is a complex optimization problem. This paper splits the decomposition process into two stages. The first stage is to extract synergies from rapid movement tasks using singular value decomposition (SVD). A bank of template functions is then created from shifted versions of the extracted synergies. The second stage is to find weights and onset times of the synergies based on l 1 -minimization, whose solutions provide sparse representations of hand movements using synergies.

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Biomedical Engineering, IEEE Transactions on  (Volume:57 ,  Issue: 2 )