TY - GEN
T1 - Human arm impedance
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
AU - Artemiadis, Panagiotis K.
AU - Katsiaris, Pantelis T.
AU - Liarokapis, Minas V.
AU - Kyriakopoulos, Kostas J.
PY - 2010
Y1 - 2010
N2 - Humans perform a wide range of skillful and dexterous motion by adjusting the dynamic characteristics of their musculoskeletal system during motion. This capability is based on the non-linear characteristics of the muscles and the motor control architecture that can control motion and exerted force independently. Mechanical impedance (i.e. stiffness, viscosity and inertia) constitutes the most solid characteristic for describing the dynamic behavior of human movements. This paper presents a method for estimating upper limb impedance characteristics in the three-dimensional (3D) space, covering a wide range of the arm workspace. While subjects maintained postures, a seven-degrees-of-freedom (7-DoFs) robot arm was used to produce small displacements of subjects' hands along the three Cartesian axes. The end-point dynamic behavior was modeled using a linear second-order system and the impedance characteristics in the 3D space were identified using the measured forces and motion profiles. Experimental results were confirmed with two subjects.
AB - Humans perform a wide range of skillful and dexterous motion by adjusting the dynamic characteristics of their musculoskeletal system during motion. This capability is based on the non-linear characteristics of the muscles and the motor control architecture that can control motion and exerted force independently. Mechanical impedance (i.e. stiffness, viscosity and inertia) constitutes the most solid characteristic for describing the dynamic behavior of human movements. This paper presents a method for estimating upper limb impedance characteristics in the three-dimensional (3D) space, covering a wide range of the arm workspace. While subjects maintained postures, a seven-degrees-of-freedom (7-DoFs) robot arm was used to produce small displacements of subjects' hands along the three Cartesian axes. The end-point dynamic behavior was modeled using a linear second-order system and the impedance characteristics in the 3D space were identified using the measured forces and motion profiles. Experimental results were confirmed with two subjects.
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U2 - 10.1109/IROS.2010.5652025
DO - 10.1109/IROS.2010.5652025
M3 - Conference contribution
AN - SCOPUS:78651484535
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3103
EP - 3108
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Y2 - 18 October 2010 through 22 October 2010
ER -