Energy Analysis of Handwriting with Robotic Analog

This chapter investigates the usage of energy by a human arm in writing with a three-revolute-joint (3R) robotic analog as a substitute. Data were gathered on basic paths as well as more-complex paths designed to mimic more human language and scripts. Furthermore, testing included several writing orientations—left to right, right to left, top to bottom, and bottom to top—and testing and simulating handedness. Data were gathered through a numerical analysis and a simulated 3R robot operated by using direct torque control. Energy data were extrapolated from joint variables, via torque. This chapter aims to determine whether writing from right to left or writing from left to right consumes more energy.