ABSTRACT
BACKGROUND: Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. METHODS: The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. RESULTS: Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. CONCLUSION: The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey.
Subject(s)
Robotics , HumansABSTRACT
Objective Impedance control plays an important role in stability.This paper intends to explore such mechanism through modeling human reaching movement.Method Implemented with revised model,we ap-ply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses.Result Com-pared with the original model and experimental figures,the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better.Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.
ABSTRACT
Objective Impedance control plays an important role in stability.This paper intends to explore such mechanism through modeling human reaching movement.Method Implemented with revised model,we ap-ply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses.Result Com-pared with the original model and experimental figures,the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better.Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.
ABSTRACT
Objective Impedance control plays an important role in stability.This paper intends to explore such mechanism through modeling human reaching movement.Method Implemented with revised model,we ap-ply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses.Result Com-pared with the original model and experimental figures,the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better.Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.
