Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Author

Tanaka, Yoshiyuki ; Onishi, Teruyuki ; Tsuji, Toshio ; Yamada, Naoki ; Takeda, Yuusaku ; Masamori, Ichiro

Author_Institution

Graduate Sch. of Eng., Hiroshima Univ.

fYear

2007

fDate

10-14 April 2007

Firstpage

3627

Lastpage

3632

Abstract

A human can control dynamic properties of his/her own body naturally and effectively according to tasks by utilizing the perceived information of environmental characteristics. If dynamic properties of human movements depending on environmental characteristics can be described quantitatively, there would be expected to design and develop a novel human-machine system in which an operator can manipulate more comfortably. This paper discusses a design methodology of human-machine systems integrating human motor characteristics. A vehicle interface system manipulated by the foot is focused on, and mechanical impedance properties of human lower extremities during maintained leg posture are investigated according to the leg posture and the foot force

Keywords

control system synthesis; humanoid robots; legged locomotion; man-machine systems; robot dynamics; foot force; human impedance properties; human lower extremities; human motor characteristics; human movement dynamics; human-machine control system design; leg posture; vehicle interface system; Biological system modeling; Control system synthesis; Design methodology; Foot; Humans; Impedance; Leg; Man machine systems; Manipulator dynamics; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.364034

Filename

4209652