TY - GEN
T1 - Measuring stiffness during arm movements in various dynamic environments
AU - Burdet, E.
AU - Osu, R.
AU - Franklin, D.
AU - Milner, T. E.
AU - Kawato, M.
PY - 1999
Y1 - 1999
N2 - The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.
AB - The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.
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M3 - Conference contribution
AN - SCOPUS:0033297665
SN - 0791816346
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 421
EP - 428
BT - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PB - ASME
T2 - Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
Y2 - 14 November 1999 through 19 November 1999
ER -