Estimation of Arm Stiffness Using Force Information of a Hand in Contact with a Highly Rigid Environment

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2024/07/01

タイトル(英語): Estimation of Arm Stiffness Using Force Information of a Hand in Contact with a Highly Rigid Environment

著者名: Ryosuke Shibuya (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

著者名(英語): Ryosuke Shibuya (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

キーワード: stiffness estimation，electromyography，regression analysis，equilibrium point hypothesis

要約(英語): Estimating human stiffness is crucial for achieving precise robotic manipulation through variable impedance control. For in order to enable a robot to replicate human-like stiffness, it is essential to have a comprehensive understanding of the stiffness characteristics exhibited by humans during different tasks. Consequently, the development of an estimation method becomes imperative. One significant challenge in estimating human stiffness is to accurately assess arm stiffness when it is in contact with a highly rigid environment. Therefore, this study aimed to devise a method to estimate the stiffness of the human arm during contact with such environments. The proposed approach involves an equation for estimating arm stiffness using force information obtained from the human hand.

本誌: IEEJ Journal of Industry Applications Vol.13 No.4 （2024） Special Issue on “JIASC 2023”

本誌掲載ページ: 357-363 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/13/4/13_23007663/_article/-char/ja/