Estimation of human arm impedance in accordance with the master device types and gripping posture

Robot Variable Impedance Skill Transfer and Learning Framework Based on a Simplified Human Arm Impedance Model

“…We define the mass and damping ratio of the robot controller as a fixed value and assume that stiffness is a variable with the state. This process is running in real time and only requires three input parameters (α(t), β(t), C(t)) to obtain real-time arm stiffness as (14). The results are shown in Figures 7 and 13.…”

“…The arm endpoint stiffness, as the most important impedance gain (among mass, damping, and stiffness) [9], greatly influences operation tasks [10], [11] in the form of an endpoint stiffness ellipsoid [12]. Many studies have revealed that the arm endpoint stiffness is mainly affected by arm configurations [13], [14] and the co-contraction effect of antagonistic muscles [15]. The arm configurations mainly influence the main axis direction of the stiffness ellipse, whereas the co-contraction effect plays a major role in adjusting the magnitude of the stiffness ellipse.…”

Intuitive Impedance Modulation in Haptic Control Using Electromyography

“…Based on this response the dynamic properties of the arm can be estimated continuously and they suggest that this estimation can be used in a telemanipulation system with variable compliance. [3] related the robotic behavior to the load conditions as would be done by humans as well and finally, [13] related the desired robotic behavior to the recorded posture of the operator. Although these last publications show similarities in the addressed problem, none of them show clear experimental results on the effects of their control approaches.…”

“…By modulating these dynamic properties, humans can adapt their manipulation tactic to the task at hand. Examples are increasing limb compliance in order to carefully handle delicate objects or decreasing limb compliance to reject disturbing forces ( [1], [3], [8], [13], [14]).…”