Proceedings ArticleDOI
Analysis of human wrist joint impedance: Does human joint viscosity depend on its angular velocity?
Yusaku Takeda,M. Iwahara,T. Kato,Toshio Tsuji +3 more
- Vol. 2, pp 999-1004
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TLDR
A novel model for the mechanical joint impedance, which takes into account the force-velocity relationships of skeletal muscles, is proposed, and velocity-dependent viscosity changes are formulated using the equation proposed by A. V. Hill.Abstract:
A novel model for the mechanical joint impedance, which takes into account the force-velocity relationships of skeletal muscles, is proposed. First, velocity-dependent viscosity changes are formulated using the equation proposed by A. V. Hill. Then, human wrist joint impedance is estimated by a conventional model (a linear model) and the proposed novel model (a nonlinear model) for comparison. The estimated moment of inertia indicates approximately constant value in all muscle contraction levels, and the joint stiffness estimated from the both models increases with the increment of muscle contractions. However, when joint angular velocity starts to change, the estimated joint viscosity dramatically decreases with the increment of joint angular velocityread more
Citations
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Journal ArticleDOI
A Novel Algorithm of Human-Like Motion Planning for Robotic Arms
Jing Zhao,Yuan Wei +1 more
TL;DR: A motion-decision algorithm is proposed and applied to human-like motion planning of robotic arms and the human performance measures (HPMs) in different planning hierarchies are proposed.
References
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