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Patrick, van der Smagt and Castellini, Claudio and Urbanek, Holger (2009) Human Arm Impedance and EMG in 3D. In: Proceedings. SKILLS, International Conference on Multimodal Interfaces for Skills Transfer, 2009-12-15 - 2009-12-16, Bilbao, Spain.
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Abstract
This paper shows the relationship between EMG signals and human arm stiffness, measured in 3-D space. Preliminary results demonstrate the viability of this approach, which can then be used to measure human arm impedance from EMG only. Understanding human stiffness during interaction tasks will allow the development of an appropriate skill transfer exercise for Programming-by-Demonstration. Making the human aware of her own stiffness adaption gives a better understanding towards programming a robot impedance controller.
| Item URL in elib: | https://elib.dlr.de/62664/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||
| Title: | Human Arm Impedance and EMG in 3D | ||||||||||||||||
| Authors: |
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| Date: | 15 December 2009 | ||||||||||||||||
| Journal or Publication Title: | Proceedings | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | EMG, human impedance, arm | ||||||||||||||||
| Event Title: | SKILLS, International Conference on Multimodal Interfaces for Skills Transfer | ||||||||||||||||
| Event Location: | Bilbao, Spain | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 15 December 2009 | ||||||||||||||||
| Event End Date: | 16 December 2009 | ||||||||||||||||
| 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 - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||
| Deposited By: | Beinhofer, Gabriele | ||||||||||||||||
| Deposited On: | 18 Jan 2010 09:19 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 19:27 |
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