An asymmetric stiffness model of a human hand

Satoko Abiko, Atsushi Konno, Masaru Uchiyama

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

1 Citation (Scopus)

Abstract

This paper presents an asymmetric stiffness characteristic of a human hand. In human support robotics or medical robotics, the detail comprehension of physical human body is important to develop safe and high performed robots to work cooperatively with a human and to replace human dexterous tasks. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of an articulated body system. In this paper, perturbation-excited method is carried out for estimating the stiffness of a human hand. The experimental results demonstrate nonlinear property of the stiffness of a human hand. To illustrate the observed stiffness characteristic, this paper proposes nonlinear stiffness model of the human hand.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages5034-5041
Number of pages8
DOIs
Publication statusPublished - 2010 Dec 1
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

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
Period10/10/1810/10/22

Keywords

  • Asymmetric stiffness
  • Perturbation-excited method
  • Variable stiffness
  • Viscoelasticity

ASJC Scopus subject areas

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

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