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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.

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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
AuthorsInstitution or Email of AuthorsAuthors ORCID
Lakatos, Dominicdominic.lakatos@dlr.deUNSPECIFIED
Rüschen, Danieldaniel.rueschen@rwth-aachen.deUNSPECIFIED
Bayer, Justinbayer.justin@googlemail.comUNSPECIFIED
Vogel, Jörnjoern.vogel@dlr.deUNSPECIFIED
van der Smagt, Patricksmagt@dlr.deUNSPECIFIED
Refereed publication:Yes
In Open Access:No
In ISI Web of Science:No
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 (until 2012)
Deposited By: Lakatos, Dominic
Deposited On:19 Dec 2012 11:07
Last Modified:13 Jul 2016 17:28

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