Estimation of Human Hand Impedance During Maintenance of Posture
Estimation of Human Hand Impedance During Maintenance of Posture
复制标题
维持姿势时人手阻抗的估计
DOI：
10.9746/sicetr1965.30.319
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
M. Nagamachi
中科院分区：
文献类型：
--
作者：
T. Tsuji;Kazuhiro Goto;Koji Ito;M. Nagamachi
本文提出了一种方法来估计手阻抗特性，包括惯性和粘性以及刚度在多关节人体手臂运动。当受试者保持一个给定的手的位置，小的外部干扰的手是由一个manipulhuge。测量了由扰动引起的手部位移和力的时间变化，并使用二阶线性阻抗模型估计了手部阻抗。首先，将该方法应用于物体质量和机械弹簧系数的估计，分析了阻抗估计的精度。实验结果表明：（1）手的惯性矩阵估计值与双关节手臂模型的计算值一致;（2）刚度场的方向与Mussa-Ivaldi等人的实验结果基本一致。3）估算的刚度幅值比Mussa-Ivaldi等人的结果低得多。4）粘度椭圆的方向与刚度椭圆的方向基本一致。
The present paper proposes a method to estimate hand impedance characteristics including inertia and viscosity as well as stiffness in multi-joint human arm movement. While subjects maintain a given hand position, small external disturbance to the hand is applied by a manipulandum. Time changes of the hand displacements and forces caused by the disturbance are measured, and the hand impedance are estimated using a second-order linear impedance model. Firstly, accuracy of the estimated impedance is analyzed applying the method to the estimation of mass of the objects and mechanical spring coefficients. Then, the hand impedances of human arm during maintenance of posture are estimated, and the experimental results show the following: 1) the estimated inertia matrices of human hand agree with computed values using a two-joint arm model, 2) the orientations of stiffness fields are almost the same as the experimental results of Mussa-Ivaldi et. al (1985), 3) the amplitude of the estimated stiffnesss is considerably lower than the one of the results of Mussa-Ivaldi et. al (1985), 4) the orientation of viscosity ellipses almost agree with the one of the stiffness ellipses.