Human hand impedance characteristics during maintained posture.

Abstract:

:The present paper examines human hand impedance characteristics, including inertia and viscosity as well as stiffness, in multi-joint arm movements. While a subject maintains a given hand location, small external disturbances are applied to his hand by a manipulandum. The corresponding force-displacement vectors are measured and sampled over time in order to estimate the hand impedance by means of a second-order linear model. The experimental results in different subjects and hand locations are summarized as follows: (1) the estimated inertia matrices of the human hand well agrees with computed values using a two-joint arm model, (2) spatial variations of the stiffness ellipses are consistent with the experimental results of Mussa-Ivaldi et al. (1985), (3) hand stiffness and viscosity increase with the grip force of the subject, and (4) viscosity and stiffness ellipses tend to have similar orientation. The accuracy of the impedance estimation method is validated with a mechanical spring-mass system with known parameters.

journal_name

Biol Cybern

journal_title

Biological cybernetics

authors

Tsuji T,Morasso PG,Goto K,Ito K

doi

10.1007/BF00199890

subject

Has Abstract

pub_date

1995-01-01 00:00:00

pages

475-85

issue

6

eissn

0340-1200

issn

1432-0770

journal_volume

72

pub_type

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