Dynamic and loaded impedance components in the maintenance of human arm posture

Dolan, John M.; Friedman, Mark B.; Nagurka, Mark L.

doi:10.1109/21.256543

Cited by 204 publications

(173 citation statements)

References 17 publications

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“…The value of damping is most of the time assumed to be dependent on the muscle activation, but there is no indication that damping can consciously be controlled by the subject. In some studies, it is modeled to be proportional or non-linearly dependent on stiffness [32]. Stiffness, on the other hand is directly related to muscle activation.…”

Section: Results Of Measurements With Subjectsmentioning

confidence: 99%

End-point impedance measurements at human hand during interactive manual welding with robot

Erden

Billard

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-This paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its endeffector. The subjects perform TIG welding on 1.5 mm thick stainless steel plates by manipulating the torch attached to the robot. The end-point impedance values are measured by introducing external force disturbances and by fitting a massdamper-spring model to human hand reactions. Results show that, for professionals and novices, the mass, damping and stiffness values in the direction perpendicular to the welding line are the largest compared to the other two directions. The novices demonstrate less resistance to disturbances in this direction. Two of the professionals present larger stiffness and one of them presents larger damping. This study supports the hypothesis that impedance measurements could be used as a partial indicator, if not direct, of skill level to differentiate across different levels of manual welding performances. This work contributes towards identifying tacit knowledge of manual welding skills by means of impedance measurements.

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Section: Results Of Measurements With Subjectsmentioning

confidence: 99%

End-point impedance measurements at human hand during interactive manual welding with robot

Erden

Billard

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…They found that hand stiffness strongly depends on arm posture. Dolan et al [4] and Tsuji et al [5], [6] also showed that human hand viscoelasticity is widely affected by muscle activation level during isometric contraction. These experimental studies reveal that a human can control his/her impedance by regulating limb's posture and/or muscle contraction level during multi-joint movements.…”

Section: Introductionmentioning

confidence: 99%

Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Tanaka

Onishi

Tsuji

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Abstract-A human can control dynamic properties of his/her own body naturally and effectively according to tasks by utilizing the perceived information of environmental characteristics. If dynamic properties of human movements depending on environmental characteristics can be described quantitatively, there would be expected to design and develop a novel humanmachine system in which an operator can manipulate more comfortably. This paper discusses a design methodology of human-machine systems integrating human motor characteristics. A vehicle interface system manipulated by the foot is focused on, and mechanical impedance properties of human lower extremities during maintained leg posture are investigated according to the leg posture and the foot force.

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“…In several studies, force production in the ULs was modeled as an impedance control phenomenon typically represented by an equation of form (Equation (7)) [22][23][24]:…”

Section: Upper-limb Contributionmentioning

confidence: 99%

Posture-dependent control of stimulation in standing neuroprosthesis: Simulation feasibility study

Audu¹,

Gartman²,

Nataraj³

et al. 2014

J Rehabil Res Dev

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Abstract-We used a three-dimensional biomechanical model of human standing to test the feasibility of feed-forward control systems that vary stimulation to paralyzed muscles based on the user's posture and desire to effect a postural change. The controllers examined were (1) constant baseline stimulation, which represented muscle activation required to maintain erect standing, and (2) posture follower, which varied muscle activation as a function of the location of the projection of whole-body center of mass on the base of support. Posture-dependent control of stimulation demonstrated significant benefits over open-loop stimulation. Posture follower reduced upper-limb (UL) effort by an average of 50% compared with UL effort alone and by an average of 34% compared with baseline stimulation. On the other hand, reduction in UL effort was an average of 32% when using baseline stimulation. Compared with using UL effort alone, both controllers result in more than a 50% reduction in effort. The results of this study indicate that control systems that facilitate user-driven, task-dependent postures can be more effective and efficient than conventional open-loop stimulation. Also, they obviate the need for complicated posture-setting devices such as switches and joysticks. Functional implications include the potential to expand reachable workspace and better preparation for anticipated disturbances that could challenge balance over existing neuroprostheses for standing.

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Dynamic and loaded impedance components in the maintenance of human arm posture

Cited by 204 publications

References 17 publications

End-point impedance measurements at human hand during interactive manual welding with robot

End-point impedance measurements at human hand during interactive manual welding with robot

Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Posture-dependent control of stimulation in standing neuroprosthesis: Simulation feasibility study

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