Impedance characteristic of shoulder and elbow joints during passive movement
This paper describes the impedance characteristic of shoulder and elbow joints of human arm during passive movement. The arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. Trajectories used in the experiment were minimum jerk (the rate of chang...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/37544/ http://irep.iium.edu.my/37544/1/impedance.pdf |
| _version_ | 1848781432878530560 |
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| author | Rahman, Md. Mozasser Rahman, Mohammad Habibur Ikeura, Ryujun |
| author_facet | Rahman, Md. Mozasser Rahman, Mohammad Habibur Ikeura, Ryujun |
| author_sort | Rahman, Md. Mozasser |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper describes the impedance characteristic
of shoulder and elbow joints of human arm during passive
movement. The arm was moved in a desired trajectory. The
motion was actuated by a 1 degree-of-freedom robot system.
Trajectories used in the experiment were minimum jerk (the
rate of change of acceleration) trajectories, which were found
during human and human cooperative task and optimum for
muscle movement. As the muscle is mechanically analogous to
a spring-damper system, a second-order equation was
considered as the model for arm dynamics. In the model,
inertia, stiffness and damping factor were considered. The
impedance parameters were estimated from the position and
torque data obtained from the experiment and based on the
“Estimation of Parametric Model”. It was found that the
inertia is almost constant over the operational time. The
damping factor and stiffness were high at the starting
position and became near to zero after 0.4 second. |
| first_indexed | 2025-11-14T15:49:29Z |
| format | Proceeding Paper |
| id | iium-37544 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:49:29Z |
| publishDate | 2006 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-375442015-01-08T03:46:49Z http://irep.iium.edu.my/37544/ Impedance characteristic of shoulder and elbow joints during passive movement Rahman, Md. Mozasser Rahman, Mohammad Habibur Ikeura, Ryujun TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) This paper describes the impedance characteristic of shoulder and elbow joints of human arm during passive movement. The arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. Trajectories used in the experiment were minimum jerk (the rate of change of acceleration) trajectories, which were found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameters were estimated from the position and torque data obtained from the experiment and based on the “Estimation of Parametric Model”. It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high at the starting position and became near to zero after 0.4 second. 2006-08-08 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/37544/1/impedance.pdf Rahman, Md. Mozasser and Rahman, Mohammad Habibur and Ikeura, Ryujun (2006) Impedance characteristic of shoulder and elbow joints during passive movement. In: First International Conference on Industrial and Information Systems (ICIIS 2006), 8-11 Aug. 2006, Sri Lanka. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4216590&tag=1 |
| spellingShingle | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Rahman, Md. Mozasser Rahman, Mohammad Habibur Ikeura, Ryujun Impedance characteristic of shoulder and elbow joints during passive movement |
| title | Impedance characteristic of shoulder and elbow joints during passive movement |
| title_full | Impedance characteristic of shoulder and elbow joints during passive movement |
| title_fullStr | Impedance characteristic of shoulder and elbow joints during passive movement |
| title_full_unstemmed | Impedance characteristic of shoulder and elbow joints during passive movement |
| title_short | Impedance characteristic of shoulder and elbow joints during passive movement |
| title_sort | impedance characteristic of shoulder and elbow joints during passive movement |
| topic | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| url | http://irep.iium.edu.my/37544/ http://irep.iium.edu.my/37544/ http://irep.iium.edu.my/37544/1/impedance.pdf |