Regulation of 3D human arm impedance through muscle co-contraction

Harshil Patel, Gerald O'Neill, Panagiotis Artemiadis

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

1 Citation (Scopus)

Abstract

Humans have the inherent ability of performing highly dexterous and skillful tasks with their arms, involving maintenance of posture, movement, and interaction with the environment. The latter requires the human to control the dynamic characteristics of the upper limb musculoskeletal system. These characteristics are quantitatively represented by inertia, damping, and stiffness, which are measures of mechanical impedance. Many previous studies have shown that arm posture is a dominant factor in determining the end point impedance on a horizontal (transverse) plane. This paper presents the characterization of the end point impedance of the human arm in three-dimensional space. Moreover, it models the regulation of the arm impedance with respect to various levels of muscle co-contraction. The characterization is made by route of experimental trials where human subjects maintained arm posture while their arms were perturbed by a robot arm. Furthermore, the subjects were asked to control the level of their arm muscles' co-contraction, using visual feedback of their muscles' activation, in order to investigate the effect of this muscle co-contraction on the arm impedance. The results of this study show a very interesting, anisotropic increase of arm stiffness due to muscle co-contraction. These results could lead to very useful conclusions about the human's arm biomechanics, as well as many implications for human motor controlspecifically the control of arm impedance through muscle cocontraction.

Original languageEnglish (US)
Title of host publicationASME 2013 Dynamic Systems and Control Conference, DSCC 2013
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume1
ISBN (Print)9780791856123
DOIs
StatePublished - 2013
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

Fingerprint

Muscle
Stiffness
Musculoskeletal system
Biomechanics
Damping
Chemical activation
Robots
Feedback

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Patel, H., O'Neill, G., & Artemiadis, P. (2013). Regulation of 3D human arm impedance through muscle co-contraction. In ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 (Vol. 1). [V001T09A003] American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3942

Regulation of 3D human arm impedance through muscle co-contraction. / Patel, Harshil; O'Neill, Gerald; Artemiadis, Panagiotis.

ASME 2013 Dynamic Systems and Control Conference, DSCC 2013. Vol. 1 American Society of Mechanical Engineers (ASME), 2013. V001T09A003.

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

Patel, H, O'Neill, G & Artemiadis, P 2013, Regulation of 3D human arm impedance through muscle co-contraction. in ASME 2013 Dynamic Systems and Control Conference, DSCC 2013. vol. 1, V001T09A003, American Society of Mechanical Engineers (ASME), ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, Palo Alto, CA, United States, 10/21/13. https://doi.org/10.1115/DSCC2013-3942
Patel H, O'Neill G, Artemiadis P. Regulation of 3D human arm impedance through muscle co-contraction. In ASME 2013 Dynamic Systems and Control Conference, DSCC 2013. Vol. 1. American Society of Mechanical Engineers (ASME). 2013. V001T09A003 https://doi.org/10.1115/DSCC2013-3942
Patel, Harshil ; O'Neill, Gerald ; Artemiadis, Panagiotis. / Regulation of 3D human arm impedance through muscle co-contraction. ASME 2013 Dynamic Systems and Control Conference, DSCC 2013. Vol. 1 American Society of Mechanical Engineers (ASME), 2013.
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