Measuring stiffness during arm movements in various dynamic environments

E. Burdet, R. Osu, D. Franklin, T. E. Milner, M. Kawato

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

7 Citations (Scopus)

Abstract

The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.

Original languageEnglish
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherASME
Pages421-428
Number of pages8
ISBN (Print)0791816346
Publication statusPublished - 1999 Dec 1
Externally publishedYes
EventDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) - Nashville, TN, USA
Duration: 1999 Nov 141999 Nov 19

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume67

Other

OtherDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
CityNashville, TN, USA
Period99/11/1499/11/19

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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  • Cite this

    Burdet, E., Osu, R., Franklin, D., Milner, T. E., & Kawato, M. (1999). Measuring stiffness during arm movements in various dynamic environments. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (pp. 421-428). (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 67). ASME.