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Conditioning vs. Excitation Time for Estimating Impedance Parameters of the Human Arm

Lakatos, Dominic and Petit, Florian and van der Smagt, Patrick (2011) Conditioning vs. Excitation Time for Estimating Impedance Parameters of the Human Arm. In: Proceedings. Humanoids 2011, International Conference on Humanoid Robots, 26. Okt. - 28. Okt. 2011, Bled, Slovenia.

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Abstract

The human arm’s capability to alter its impedance has motivated multiple developments of robotic manipulators and control methods. It provides advantages during manipulation such as robustness against external disturbances and task adaptability. However, how the impedance of the arm is set depends on the manipulation situation; a general procedure is lacking. This paper aims to fill this gap by providing a method to estimate the impedance parameters of the human arm, while taking the numerical stability of the approach into account. A dynamic arm model and an identification method is presented. Confidential criteria to determine the accuracy of the estimated parameters are given. Finally, the procedure is validated in an experiment with a human subject and the results are discussed.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Conditioning vs. Excitation Time for Estimating Impedance Parameters of the Human Arm
Authors:
AuthorsInstitution or Email of Authors
Lakatos, Dominicdominic.lakatos@dlr.de
Petit, FlorianFlorian.Petit@dlr.de
van der Smagt, Patricksmagt@dlr.de
Date:2011
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Estimating Impedance, Human Arm
Event Title:Humanoids 2011, International Conference on Humanoid Robots
Event Location:Bled, Slovenia
Event Type:international Conference
Event Dates:26. Okt. - 28. Okt. 2011
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 - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 11:33
Last Modified:12 Dec 2013 21:34

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