Impedance characteristic of shoulder and elbow joints during passive movement
This paper describes the impedance characteristic of shoulder and elbow joints of human arm during passive movement. The arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. Trajectories used in the experiment were minimum jerk (the rate of chang...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/37544/ http://irep.iium.edu.my/37544/ http://irep.iium.edu.my/37544/1/impedance.pdf |
| Summary: | This paper describes the impedance characteristic
of shoulder and elbow joints of human arm during passive
movement. The arm was moved in a desired trajectory. The
motion was actuated by a 1 degree-of-freedom robot system.
Trajectories used in the experiment were minimum jerk (the
rate of change of acceleration) trajectories, which were found
during human and human cooperative task and optimum for
muscle movement. As the muscle is mechanically analogous to
a spring-damper system, a second-order equation was
considered as the model for arm dynamics. In the model,
inertia, stiffness and damping factor were considered. The
impedance parameters were estimated from the position and
torque data obtained from the experiment and based on the
“Estimation of Parametric Model”. It was found that the
inertia is almost constant over the operational time. The
damping factor and stiffness were high at the starting
position and became near to zero after 0.4 second. |
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