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Carnegie Mellon Robotics Institute

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Abstract

The development of an experimental testbed for the investigation of human arm impedance is described. A two-degree-of-freedom SCARA-configuration robotic arm with an endpoint force sensor has been developed for measuring parameters such as postural viscosity and dynamic stiffness and viscosity. The measurement device is used in disturbance tests to determine the degree and nature of impedance tuning during various tasks.

Keywords

biomechanics, impedance control, human arm

Notes

Text Reference

John M. Dolan, Mark Friedman, and Mark Nagurka, "A Testbed for Measurement of Human Arm Impedance Parameters," Proceedings of the IEEE Conference on Systems Engineering, August, 1990, pp. 123 - 126.

BibTeX Reference

@inproceedings{Dolan_1990_3219,
   author = "John M Dolan and Mark Friedman and Mark Nagurka",
   title = "A Testbed for Measurement of Human Arm Impedance Parameters",
   booktitle = "Proceedings of the IEEE Conference on Systems Engineering",
   pages = "123 - 126",
   month = "August",
   year = "1990",
}

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