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.
N1 - Funding Information:
The experiments were performed at ATR. The authors thank T. Yoshioka and H. Gomi for setting up the testbed. This research was supported by the Japan Trust (Japan Key Technology Center), ERATO/JST and JISTEC., Japan, and by grants from the Swiss National Science Foundation and the Natural Sciences and Engineering Research Council of Canada.
Funding Information:
Acknowledgements The experiments were per formed at ATR. The authors thank T. Yoshioka and H. Gomi for setting up the testbed. This research was supported by the Japan Trust (Japan Key Tech nology Center), ERATO/JST and JISTEC, Japan, and by grants from the Swiss National Science Foun dation and the Natural Sciences and Engineering Re search Council of Canada.
Publisher Copyright:
© 1999 American Society of Mechanical Engineers (ASME). All rights reserved.
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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U2 - 10.1115/IMECE1999-0058
DO - 10.1115/IMECE1999-0058
M3 - Conference contribution
AN - SCOPUS:85122626449
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 421
EP - 428
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999
Y2 - 14 November 1999 through 19 November 1999
ER -