An asymmetric stiffness model of a human hand

Satoko Abiko, Atsushi Konno, Masaru Uchiyama

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ページ5034-5041
ページ数8
DOI
出版ステータスPublished - 2010 12 1
外部発表はい
イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
継続期間: 2010 10 182010 10 22

出版物シリーズ

名前IEEE/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
国/地域Taiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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