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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4591-4596
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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