An asymmetric stiffness model of a human hand

Satoko Abiko, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    This paper presents an asymmetric stiffness characteristic of a human hand. In human support robotics or medical robotics, the detail comprehension of physical human body is important to develop safe and high performed robots to work cooperatively with a human and to replace human dexterous tasks. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of an articulated body system. In this paper, perturbation-excited method is carried out for estimating the stiffness of a human hand. The experimental results demonstrate nonlinear property of the stiffness of a human hand. To illustrate the observed stiffness characteristic, this paper proposes nonlinear stiffness model of the human hand.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages5034-5041
    Number of pages8
    DOIs
    Publication statusPublished - 2010 Dec 1
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    Duration: 2010 Oct 182010 Oct 22

    Publication series

    NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CountryTaiwan, Province of China
    CityTaipei
    Period10/10/1810/10/22

    Keywords

    • Asymmetric stiffness
    • Perturbation-excited method
    • Variable stiffness
    • Viscoelasticity

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Control and Systems Engineering

    Fingerprint Dive into the research topics of 'An asymmetric stiffness model of a human hand'. Together they form a unique fingerprint.

    Cite this