3-Dimension analysis of human arm stiffness in reaching movement using arm robot

Yukako Tani, Chiharu Yamada, Kazuyoshi Fukuzawa, Seiichiro Katsura, Yoshihiro Itaguchi

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

Abstract

In rehabilitation, a robot is useful and effective for repetitive trainings. However, few rehabilitation robots have adaptability to personal difference. Therefore, an index for quantitative assessment of the difference is required to achieve the adaptability. In conventional research, a hand stiffness is used as one of the indeces, and a dynamic hand stiffness is measured only in 2 dimensions. Then, in this paper the dynamic hand stiffness of reaching motions is measured in 3 dimensions by using an arm robot. The experimental results are represented as stiffness ellipsoids. Moreover, the results are compared with the ellipsoids in 2 dimensions. From these results, it is revealed that the characteristics of the dynamic hand stiffness in 3 dimensions is different from that in 2 dimensions. The fact implicits that a human controlls his/her arm stiffness not in work space but in joint space.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4591-4596
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Fingerprint

Stiffness
Robots
Patient rehabilitation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Tani, Y., Yamada, C., Fukuzawa, K., Katsura, S., & Itaguchi, Y. (2016). 3-Dimension analysis of human arm stiffness in reaching movement using arm robot. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4591-4596). [7392815] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392815

3-Dimension analysis of human arm stiffness in reaching movement using arm robot. / Tani, Yukako; Yamada, Chiharu; Fukuzawa, Kazuyoshi; Katsura, Seiichiro; Itaguchi, Yoshihiro.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4591-4596 7392815.

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

Tani, Y, Yamada, C, Fukuzawa, K, Katsura, S & Itaguchi, Y 2016, 3-Dimension analysis of human arm stiffness in reaching movement using arm robot. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392815, Institute of Electrical and Electronics Engineers Inc., pp. 4591-4596, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392815
Tani Y, Yamada C, Fukuzawa K, Katsura S, Itaguchi Y. 3-Dimension analysis of human arm stiffness in reaching movement using arm robot. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 4591-4596. 7392815 https://doi.org/10.1109/IECON.2015.7392815
Tani, Yukako ; Yamada, Chiharu ; Fukuzawa, Kazuyoshi ; Katsura, Seiichiro ; Itaguchi, Yoshihiro. / 3-Dimension analysis of human arm stiffness in reaching movement using arm robot. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 4591-4596
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