{"title":"Human arm-like robot control using the viscoelasticity of human multi-joint arm","authors":"Aihui Wang, M. Deng","doi":"10.1109/ICCIT.2010.5711151","DOIUrl":null,"url":null,"abstract":"The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many biomedical applications of robotics require knowledge of the viscoelasticity of human multi-joint arm in order to make motion appear more natural and accurately. Till now, the real time viscoelasticity of human multi-joint arm has not finally been used absolutely in robot control. This paper reviews a robust estimation method of the human multi-joint arm viscoelasticity during natural movement. A human arm-like robot control scheme using the real time measuring viscoelasticity of human multi-joint arm is proposed. An improved forward gaze model is used in order to study how to adjust the human multi-joint arm viscoelasticity by central nervous system according to external environment. The effectiveness of the proposed method is confirmed by the simulation and experimental results.","PeriodicalId":131337,"journal":{"name":"5th International Conference on Computer Sciences and Convergence Information Technology","volume":"56 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"5th International Conference on Computer Sciences and Convergence Information Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCIT.2010.5711151","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many biomedical applications of robotics require knowledge of the viscoelasticity of human multi-joint arm in order to make motion appear more natural and accurately. Till now, the real time viscoelasticity of human multi-joint arm has not finally been used absolutely in robot control. This paper reviews a robust estimation method of the human multi-joint arm viscoelasticity during natural movement. A human arm-like robot control scheme using the real time measuring viscoelasticity of human multi-joint arm is proposed. An improved forward gaze model is used in order to study how to adjust the human multi-joint arm viscoelasticity by central nervous system according to external environment. The effectiveness of the proposed method is confirmed by the simulation and experimental results.
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