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Dynamical estimation of human arm stiffness in context of sEMG based teleoperation

Yu, Zijin (2015) Dynamical estimation of human arm stiffness in context of sEMG based teleoperation. DLR-Interner Bericht. 572-2015/37. Master's. École Polytechnique Fédérale de Lausanne. 95 S.

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Impedance based teleoperation (teleimpedance) is believed to be safer and more intuitive than conventional techniques. And a relationship between human arm stiffness and its surface EMG signal (sEMG) is expected. Therefore, the ultimate goal of the project aims at building up a map between sEMG and human arm stiffness and apply it to teleimpedance. During the course of the project, a methodology that measures dynamic human arm stiffness has been invented using a specialized 2D manipulandum. A series of experiments have been conducted with EMG data recorded by a novel sensor with short overall duration (under 20min) while having abundance of data (over 3000 stiffness-EMG pairs). The methodology is able to give estimations of full dynamics of human arm, including endpoint stiffness, mass, and damping. The estimated mass has good quality and great correspondence with experimental facts; while the dynamic stiffness shows both variance and correspondence to static stiffness, theoretical support is lacking under the setupped situation. A preliminary investigation has shown EMG linear regression of estimated stiffness is insufficient and more complicated models need to be applied.

Item URL in elib:https://elib.dlr.de/102071/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Dynamical estimation of human arm stiffness in context of sEMG based teleoperation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:1 May 2015
Refereed publication:No
Open Access:No
Number of Pages:95
Keywords:Human Arm Impedance, Human Arm Stiffness, Muscular Activation, Electromyographie EMG
Institution:École Polytechnique Fédérale de Lausanne
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Höppner, Hannes
Deposited On:13 Jan 2016 11:44
Last Modified:13 Jan 2016 11:44

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