Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

2016 ◽  
Vol 136 (4) ◽  
pp. 254-262 ◽  
Author(s):  
Takahiro Yamazaki ◽  
Sho Sakaino ◽  
Toshiaki Tsuji
Keyword(s):  
Kinetic Modeling ◽  
Robot Arm ◽  
Wearable Robot ◽  
Human Arm

Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

2017 ◽  
Vol 199 (3) ◽  
pp. 57-67 ◽  
Author(s):  
TAKAHIRO YAMAZAKI ◽  
SHO SAKAINO ◽  
TOSHIAKI TSUJI
Keyword(s):  
Kinetic Modeling ◽  
Robot Arm ◽  
Wearable Robot ◽  
Human Arm

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

Development of Monopod-supported Wearable Robot Arm: Third Arm

2021 ◽  
Vol 2021 (0) ◽  
pp. 2P3-C08
Author(s):  
Yasunao OKAZAKI ◽  
Mayumi KOMATSU ◽  
Hiroyasu IWATA ◽  
Takeshi ANDO
Keyword(s):  
Robot Arm ◽  
Wearable Robot

Regulation of 3D Human Arm Impedance Through Muscle Co-Contraction

2013 ◽  
Author(s):  
Harshil Patel ◽  
Gerald O’Neill ◽  
Panagiotis Artemiadis
Keyword(s):  
Dimensional Space ◽  
Human Subjects ◽  
Three Dimensional ◽  
Mechanical Impedance ◽  
Dominant Factor ◽  
Robot Arm ◽  
End Point ◽  
Human Arm ◽  
Arm Muscles ◽  
Experimental Trials

Humans have the inherent ability of performing highly dexterous and skillful tasks with their arms, involving maintenance of posture, movement, and interaction with the environment. The latter requires the human to control the dynamic characteristics of the upper limb musculoskeletal system. These characteristics are quantitatively represented by inertia, damping, and stiffness, which are measures of mechanical impedance. Many previous studies have shown that arm posture is a dominant factor in determining the end point impedance on a horizontal (transverse) plane. This paper presents the characterization of the end point impedance of the human arm in three-dimensional space. Moreover, it models the regulation of the arm impedance with respect to various levels of muscle co-contraction. The characterization is made by route of experimental trials where human subjects maintained arm posture while their arms were perturbed by a robot arm. Furthermore, the subjects were asked to control the level of their arm muscles’ co-contraction, using visual feedback of their muscles’ activation, in order to investigate the effect of this muscle co-contraction on the arm impedance. The results of this study show a very interesting, anisotropic increase of arm stiffness due to muscle co-contraction. These results could lead to very useful conclusions about the human’s arm biomechanics, as well as many implications for human motor control-specifically the control of arm impedance through muscle co-contraction.

scholarly journals An Augmented Discrete-Time Approach for Human-Robot Collaboration

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Peidong Liang ◽  
Lianzheng Ge ◽  
Yihuan Liu ◽  
Lijun Zhao ◽  
Ruifeng Li ◽  
...  
Keyword(s):  
Discrete Time ◽  
Human Motion ◽  
Stiffness Index ◽  
Robot Dynamics ◽  
Robot Arm ◽  
Human Arm ◽  
Human Kinematics ◽  
Human Motor ◽  
New Generation ◽  
Human Robot Collaboration

Human-robot collaboration (HRC) is a key feature to distinguish the new generation of robots from conventional robots. Relevant HRC topics have been extensively investigated recently in academic institutes and companies to improve human and robot interactive performance. Generally, human motor control regulates human motion adaptively to the external environment with safety, compliance, stability, and efficiency. Inspired by this, we propose an augmented approach to make a robot understand human motion behaviors based on human kinematics and human postural impedance adaptation. Human kinematics is identified by geometry kinematics approach to map human arm configuration as well as stiffness index controlled by hand gesture to anthropomorphic arm. While human arm postural stiffness is estimated and calibrated within robot empirical stability region, human motion is captured by employing a geometry vector approach based on Kinect. A biomimetic controller in discrete-time is employed to make Baxter robot arm imitate human arm behaviors based on Baxter robot dynamics. An object moving task is implemented to validate the performance of proposed methods based on Baxter robot simulator. Results show that the proposed approach to HRC is intuitive, stable, efficient, and compliant, which may have various applications in human-robot collaboration scenarios.

Motion Estimation of Human Arm for Robot Teaching System using Inertial Sensors and its Application to Robot Arm

2019 ◽  
Vol 2019 (0) ◽  
pp. 445
Author(s):  
Kazuma YASUDA ◽  
Akihito ITO ◽  
Nobutaka TSUJIUCHI ◽  
Kenji HORIO
Keyword(s):  
Motion Estimation ◽  
Inertial Sensors ◽  
Robot Arm ◽  
Teaching System ◽  
Human Arm

Proposal of wearable robot arm that takes into account weight and practicality

2017 ◽  
Vol 2017 (0) ◽  
pp. 1P2-J09
Author(s):  
Akimichi Kojima ◽  
Hirotake Yamazoe ◽  
Joo-Ho Lee
Keyword(s):  
Robot Arm ◽  
Wearable Robot
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