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Analysis of Human Intrinsic Stiffness Modulation and its Use in Variable-Stiffness Robots

Höppner, Hannes (2016) Analysis of Human Intrinsic Stiffness Modulation and its Use in Variable-Stiffness Robots. Dissertation, Technische Universität München.

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Official URL: https://mediatum.ub.tum.de/doc/1276057/1276057.pdf


This Thesis explores how human are able to modulate intrinsic hand and arm stiffness. The question is increasingly relevant as human and robots start collaborating inside same workspaces and introducing compliance allows tuning forces due to impacts, e.g., by using variable-stiffness actuators VSAs. However, even if an endless amount of different mechanisms for VSA have been introduced, design criteria regarding their mechanical properties remain unclear. This Thesis describes the development of special mechanisms for revealing insights into reflex-free, mechanical, human hand and arm compliance-behavior and special attention is paid to investigate human capabilities to decouple stiffness from force. Conclusively, the transfer of gained insights to robotic systems is analyzed and discussed.

Item URL in elib:https://elib.dlr.de/113086/
Document Type:Thesis (Dissertation)
Title:Analysis of Human Intrinsic Stiffness Modulation and its Use in Variable-Stiffness Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:April 2016
Refereed publication:Yes
Open Access:Yes
Number of Pages:133
Keywords:Human Stiffness Measurement, Human Impedance Measurement, Variable Stiffness Robotics, Soft Robotics, Grip Stiffness, Finger Stiffness, Hand Stiffness, Arm Stiffness
Institution:Technische Universität München
Department:Fakultät für Informatik
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 - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Höppner, Hannes
Deposited On:14 Jul 2017 17:51
Last Modified:31 Jul 2019 20:10

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