Impedance characteristic of shoulder and elbow joints during passive movement

Rahman, Md. Mozasser and Rahman, Mohammad Habibur and Ikeura, Ryujun (2006) Impedance characteristic of shoulder and elbow joints during passive movement. In: First International Conference on Industrial and Information Systems (ICIIS 2006), 8-11 Aug. 2006, Sri Lanka.

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Abstract

This paper describes the impedance characteristic of shoulder and elbow joints of human arm during passive movement. The arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. Trajectories used in the experiment were minimum jerk (the rate of change of acceleration) trajectories, which were found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameters were estimated from the position and torque data obtained from the experiment and based on the “Estimation of Parametric Model”. It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high at the starting position and became near to zero after 0.4 second.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5663/37544
Uncontrolled Keywords:	shoulder and joint
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Md Mozasser Rahman
Date Deposited:	18 Aug 2014 10:36
Last Modified:	08 Jan 2015 11:46
URI:	http://irep.iium.edu.my/id/eprint/37544

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