Spatial characteristics of human hand impedance in multi-joint arm movements

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407441

T. Tsuji, Kazuhiro Goto, Shouzou Moritani, M. Kaneko, P. Morasso

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引用次数: 42

Abstract

The present paper examines spatial characteristics of human hand impedance in multi-joint arm movements. While a subject maintains a hand location, small external disturbance to his hand is applied by a manipulandum. Time changes of the hand displacements and forces caused by the disturbance are measured and the hand impedance is estimated using a second-order linear model. The estimated hand impedance in different subjects and hand locations are summarized as follows: (1) spatial variations of the estimated hand impedance ellipses approximately agree with the experimental results of other researchers (Mussa-Ivaldi et at, 1985: Dolan et al., 1993), (2) the human hand inertia characteristics can be explained from basic biomechanics of the passive inertial effects (3) the grip force of the subject increases the size of the stiffness and viscosity ellipses, and (4) spatial features of the orientation. And the shape characteristics of the stiffness and viscosity ellipses are mostly explained from the kinematics point of view of the human arm.<>

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多关节手臂运动中人手阻抗的空间特征

本文研究了多关节手臂运动中人手阻抗的空间特征。当被试保持手的位置时，操纵器会对他的手施加微小的外部干扰。测量了扰动引起的手部位移和力随时间的变化，并利用二阶线性模型估计了手部阻抗。(1)估算手阻抗椭圆的空间变化与其他研究者(Mussa-Ivaldi et at, 1985)的实验结果基本一致;Dolan et al.， 1993)，(2)人体手部的惯性特性可以从被动惯性效应的基本生物力学解释(3)受试者握力增大了刚性和黏性椭圆的大小，(4)方向的空间特征。而刚度椭圆和粘度椭圆的形状特征主要是从人体手臂的运动学角度来解释的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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