elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Identification of human limb stiffness in 5 DoF and estimation via EMG

Lakatos, Dominic and Rüschen, Daniel and Bayer, Justin and Vogel, Jörn and van der Smagt, Patrick (2012) Identification of human limb stiffness in 5 DoF and estimation via EMG. ISER 2012, 17.-21. Jun. 2012, Quebec City, Canada.

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
498kB

Abstract

To approach robustness and optimal performance, biological musculo-skeletal systems can adapt their impedance while interacting with their environment. This property has motivated modern robotic designs including variable-impedance actuators and control methods, based on the capability to vary visco-elastic properties actively or passively. Even though variable-impedance actuation and impedance control in robotics is resolved to a great part, a general set of rules by which impedance is adjusted related to the task at hand is still lacking. This paper aims to fill this gap by providing a method to estimate the stiffness of the human arm in more than two degrees of freedom by perturbation. To overcome ill-conditionedness of the impedance and inertial matrices, we propose and validate methods to separately identify inertial and stiffness parameters. Finally, a model is proposed to estimate the joint stiffness from EMG-measurements of muscle activities.

Document Type:Conference or Workshop Item (Paper)
Title:Identification of human limb stiffness in 5 DoF and estimation via EMG
Authors:
AuthorsInstitution or Email of Authors
Lakatos, Dominicdominic.lakatos@dlr.de
Rüschen, Danieldaniel.rueschen@rwth-aachen.de
Bayer, Justinbayer.justin@googlemail.com
Vogel, Jörnjoern.vogel@dlr.de
van der Smagt, Patricksmagt@dlr.de
Date:2012
Refereed publication:Yes
Status:Published
Keywords:stiffness, human arm, dynamics, system identification, emg
Event Title:ISER 2012
Event Location:Quebec City, Canada
Event Type:international Conference
Event Dates:17.-21. Jun. 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Mechatronic Components and Systems
Deposited By: Dominic Lakatos
Deposited On:19 Dec 2012 11:07
Last Modified:12 Dec 2013 21:55

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.