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.
|ジャーナル||Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings|
|出版ステータス||Published - 1996 12 1|
|イベント||Proceedings of the 1996 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 4 (of 5) - Amsterdam, Neth|
継続期間: 1996 10 31 → 1996 11 3
ASJC Scopus subject areas
- コンピュータ ビジョンおよびパターン認識