제어로봇시스템학회:학술대회논문집
- 1996.10a
- /
- Pages.247-250
- /
- 1996
Experimental study on impedance characteristics of a human upper link in a positioning motion
- Kobayashi, Hideaki (Dept. of System Information Sciences, Tohoku University) ;
- Inooka, Hikaru (Dept. of System Information Sciences, Tohoku University) ;
- Ikeura, Ryojun (Dept. of Mechanical Engineering. Mie University)
- Published : 1996.10.01
Abstract
In this paper, we have examined the impedance characteristics of a tipper link of human being in a positioning motion. Firstly, we have shown the characteristics of the human arm using a bilinear model. From the bilinear model, we have observed that both the driving torque of the forearm and the visco-elasticity of the elbow joint can be controlled by muscles, respectively. Then, we have defined several indexes to show the impedance characteristics. Using the proposed indexes, we have examined the impedance characteristics in the positioning operation. As a result, we can not observe the difference of the impedance characteristics, even if the ease of the positioning motion is varied.
Keywords