Human arm impedance: Characterization and modeling in 3D space

Panagiotis K. Artemiadis, Pantelis T. Katsiaris, Minas V. Liarokapis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3103-3108
Number of pages6
DOIs
StatePublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Artemiadis, P. K., Katsiaris, P. T., Liarokapis, M. V., & Kyriakopoulos, K. J. (2010). Human arm impedance: Characterization and modeling in 3D space. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 3103-3108). [5652025] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5652025