Modeling and dynamics of human arm

Nagarsheth, H.J.; Savsani, Poonam; Patel, Meet

doi:10.1109/coase.2008.4626407

Cited by 17 publications

(11 citation statements)

References 8 publications

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“…In the robotics literature, usually the human arm is described as a planar two DoF system to obtain the kinematics as well as the dynamics of human arm motions, see [14], [15]. The requirements regarding the dynamic model are:…”

Section: A Simplified Human Arm Modelmentioning

confidence: 99%

Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions

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Ehrensperger²,

Maier

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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A significant barrier regarding a successful implementation of fenceless robot cells into manufacturing areas with humans is given by the inefficiency due to safety requirements. Robot motions have to be slowed down so that an unexpected collision with a human does not result in human injuries. This velocity reduction leads to longer cycle times and, hence, fenceless robot cells turn out as uneconomic. In this paper, a new approach for human-robot collaboration in assembly tasks is presented. For a better performance of the robot, methods are investigated on how the robot can exploit a maximum performance while maintaining the safety of collaborating humans. For this purpose, the kinematics and dynamics of a human arm are described by a control-oriented dynamic model to determine its capability and reachability. Successful experiments validate the dynamic model as well as a corresponding projection approach for calculating possible movements of the human arm that may lead to a collision with the robot. Finally, this information is used to calculate an admissible path velocity that minimizes the danger of human injuries.

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Section: A Simplified Human Arm Modelmentioning

confidence: 99%

Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions

Weitschat

Ehrensperger²,

Maier

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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“…Human arm models, relating the force applied at the wrist (F ) with the elbow angle (θ), are commonly modelled with third order integer dynamic models for the arm's intrinsic components [16,17,18,19,20] (though more complex models have been proposed [21,22,23,24]). They result from considering the arm as a mechanical system consisting of five elements -one mass (m), two springs (k 1 , k 2 ) and two dampers (c 1 , c 2 ), as in Figure 7, leading to…”

Section: Model Structuresmentioning

confidence: 99%

Identifying a non-commensurable fractional transfer function from a frequency response

Valério

Tejado

2015

Signal Processing

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This paper extends Levy's identification method to non-commensurable fractional models. This identification method allows finding a transfer function that models a frequency response. Explicit expressions for the calculations, using five different variations of the method, are given. A sensitivity analysis supports an empirical way of finding the orders involved. Two application examples, concerning the identification of a model for a viscoelastic material and a model the human arm, are given.

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“…The following inequality then can be derived by integrating Eq. (5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19)(20)(21)(22)(23). That is…”

Section: Nonlinearity and Uncertainty Structure Compensationmentioning

confidence: 99%

“…To fabricate an effective mobile assistive robotic system, various methods [20][21][22][23][24] of trajectory modeling have been investigated in the area of motor control. However, there is still no clear mathematical parameterization [25,26], describing the vast repertoire of arm motions.…”

Section: Introductionmentioning

confidence: 99%

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Design and Development of a Twisted String Exoskeleton Robot for the Upper Limb

Jiang¹

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Design and Development of a Twisted String Exoskeleton Robot for the Upper Limb Lei Jiang High-intensity and task-specific upper-limb treatment of active, highly repetitive movements are the effective approaches for patients with motor disorders. However, with the severe shortage of medical service in the United States and the fact that post-stroke survivors can continue to incur significant financial costs, patients often choose not to return to the hospital or clinic for complete recovery. Therefore, robot-assisted therapy can be considered as an alternative rehabilitation approach because the similar or better results as the patients who receive intensive conventional therapy offered by professional physicians. The primary objective of this study was to design and fabricate an effective mobile assistive robotic system that can provide stroke patients shoulder and elbow assistance. To reduce the size of actuators and to minimize the weight that needs to be carried by users, two sets of dual twisted-string actuators, each with 7 strands (1 neutral and 6 effective) were used to extend/contract the adopted strings to drive the rotational movements of shoulder and elbow joints through a Bowden cable mechanism. Furthermore, movements of non-disabled people were captured as templates of training trajectories to provide effective rehabilitation. The specific aims of this study included the development of a two-degree-of-freedom prototype for the elbow and shoulder joints, an adaptive robust control algorithm with cross-coupling dynamics that can compensate for both nonlinear factors of the system and asynchronization between individual actuators as well as an approach for extracting the reference trajectories for the assistive robotic from non-disabled people based on Microsoft Kinect sensor and Dynamic time warping algorithm. Finally, the data acquisition and control system of the robot was implemented by Intel Galileo and XILINX FPGA embedded system.

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Modeling and dynamics of human arm

Cited by 17 publications

References 8 publications

Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions

Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions

Identifying a non-commensurable fractional transfer function from a frequency response

Design and Development of a Twisted String Exoskeleton Robot for the Upper Limb

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