NDLI: Real-time estimation of human impedance for haptic interfaces

Content Provider	IEEE Xplore Digital Library
Author	Hill, M.D. Niemeyer, G.
Copyright Year	2009
Description	Author affiliation: Stanford Telerobotics Laboratory, Department of Mechanical Engineering, Stanford University, USA (Hill, M.D.; Niemeyer, G.)
Abstract	Humans significantly vary the impedance of their limbs during many manipulation tasks and during interaction with their environment. Humans vary their impedance to reduce contact forces, to increase positional control, and to stabilize unstable dynamics. The neuromuscular system modulates overall limb impedance by strategically selecting appropriate limb configurations and by selective activation of musculature. To date, haptic interfaces neither respond to nor measure these effects. We seek a real-time measurement technique to estimate user impedance, with the hope of enabling variable impedance based control of telerobots and haptic environments. We propose that such a measure might be generated through the introduction of controlled vibrations to the user through a haptic device. A model for such a system and its implications on device design is described. The results of preliminary study using a prototype device are compared to reference measurements of user stiffness and grip force.
Starting Page	440
Ending Page	445
File Size	847979
Page Count	6
File Format	PDF
ISBN	9781424438587
DOI	10.1109/WHC.2009.4810893
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force measurement Neuromuscular Humans Prototypes Measurement techniques Vibration measurement Vibration control Haptic interfaces Impedance Force control
Content Type	Text
Resource Type	Article

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