Contributions of single and double joint stiffness of human arm during force control

Hiroaki Gomi, Rieko Osu

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

To investigate the motion control mechanism of human arm during force control, shoulder, elbow, and double-joint stiffness were measured by applying a small perturbation, and their contributions to joint torques were estimated. Each joint stiffness greatly altered for the different force direction at hand, and shoulder and elbow single joint stiffness were linearly correlated to each joint toques. By assuming a linear joint stiffness, generated torques were decomposed into torques produced by each stiffness component. This analysis has revealed that the elbow torque was produced complementary by the single and double-joint stiffness, and that the shoulder torque was mainly produced by the shoulder single joint stiffness. Additionally, the double-joint stiffness was linearly correlated to the decomposed elbow joint torques produced by double-joint stiffness. These results suggest that shoulder and elbow torques are separately controlled by different muscles in this task.

Original languageEnglish
Pages (from-to)2244-2245
Number of pages2
JournalAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
Volume5
Publication statusPublished - 1996
Externally publishedYes

Fingerprint

Force control
Torque
Arm
Joints
Stiffness
Elbow Joint
Shoulder Joint
Elbow
Motion control
Hand
Muscle
Muscles

ASJC Scopus subject areas

  • Bioengineering

Cite this

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