Analysis of human hand impedance regulation ability

This paper investigates human impedance regulation ability for the purpose of developing a skill-level training method for sports and rehabilitation. The training system to experiment on human impedance regulation was constructed using impedance-controlled robot. In the experiments, a subject is instructed to regulate his/her hand impedance to the desired impedance as closely as possible according to the visual biofeedback information including EMG signals from muscles, joint angles of the upper limb, and estimated hand impedance. Experimental results demonstrate that a human can greatly improve his/her regulation ability of hand impedance by repetitive training