DocumentCode :
2974120
Title :
A study about the posture and joint stiffness at stationary force control of human arm
Author :
Uchida, Syugo ; Komada, Satoshi ; Hirai, Junji
Author_Institution :
Dept. of Electr. & Electron. Eng., Mie Univ., Tsu, Japan
fYear :
2004
fDate :
25-28 March 2004
Firstpage :
359
Lastpage :
362
Abstract :
The purpose of our research is to realize a simple and high performance control of robots using strategy of human arm operation. This time, we measure joint angle and joint stiffness of human arm during force control. When tip force is large, human being selects the posture using joint torque minimum index. When tip force is small, human being selects the posture so that manipulability becomes large. Moreover, the wrist stiffness becomes large so as to keep the posture. In order to adapt for perturbation, a regulator to avoid joint torque saturation is introduced. The effectiveness of this strategy is confirmed by a simulation result of human arm.
Keywords :
force control; manipulators; perturbation techniques; human arm operation; joint angle; joint stiffness; joint torque saturation; manipulability; perturbation; posture selection; robots; stationary force control; torque minimum index; wrist stiffness; Arm; Ellipsoids; Force control; Force measurement; Humans; Muscles; Regulators; Robot kinematics; Service robots; Torque measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
Type :
conf
DOI :
10.1109/AMC.2004.1297895
Filename :
1297895
Link To Document :
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