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Human Arm Impedance and EMG in 3D

Patrick , van der Smagt and Castellini, Claudio and Urbanek , Holger (2009) Human Arm Impedance and EMG in 3D. In: Proceedings. SKILLS, International Conference on Multimodal Interfaces for Skills Transfer, 15. Dez. -16. Dez. 2009, Bilbao, Spain.

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This paper shows the relationship between EMG signals and human arm stiffness, measured in 3-D space. Preliminary results demonstrate the viability of this approach, which can then be used to measure human arm impedance from EMG only. Understanding human stiffness during interaction tasks will allow the development of an appropriate skill transfer exercise for Programming-by-Demonstration. Making the human aware of her own stiffness adaption gives a better understanding towards programming a robot impedance controller.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Human Arm Impedance and EMG in 3D
AuthorsInstitution or Email of Authors
Patrick , van der Smagtsmagt@dlr.de
Castellini, Claudio Claudio.Castellini@dlr.de
Urbanek , HolgerHolger.Urbanek@dlr.de
Date:15 December 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Keywords:EMG, human impedance, arm
Event Title:SKILLS, International Conference on Multimodal Interfaces for Skills Transfer
Event Location:Bilbao, Spain
Event Type:international Conference
Event Dates:15. Dez. -16. Dez. 2009
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:18 Jan 2010 09:19
Last Modified:18 Jan 2010 09:19

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