1. Kinematic pattern analyses.
Kinematic pattern analyses. (A) Scree plot from our kinematic pattern analysis using PCA. The inflection point indicates that seven principal components cover much of the variance in the bimanual action space. (B) First seven principal components (displayed as colored lines in the graphs) shown over 80 time steps for each of our six kinematic features (hand offset, hand offset velocity, etc.). (C) Illustration of how the third principal component [the red lines in (B)] connects to the self-handover bimanual action. The dotted lines point to particular landmarks over the different kinematic features that characterize the self-handover action. (D) Seven principal components are grouped into four high-level “words” in our bimanual action vocabulary: fixed offset, one hand fixed, self-handover, and one hand seeking.
Daniel Rakita et al. Sci. Robotics 2019;4:eaaw0955
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