Robotic analyses of output force distribution developed by human limbs

Oshima, Toru; Fujikawa, Tomohiko; Kameyama, Osamu; Kumamoto, Minayori

doi:10.1109/roman.2000.892500

Cited by 40 publications

(39 citation statements)

References 4 publications

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“…This may not be the case in the musculoskeletal system because some muscles cross more than one joint and work in a synergetic way. Therefore, it is likely that the force polytope definition has to be adapted taking muscle geometry into account (Oshima et al 2000;Valero-Cuevas 2009). Also, it would be interesting to evaluate whether torque application on the handle modifies the amount of exerted force.…”

Section: Resultsmentioning

confidence: 99%

“…Characterising the posture-dependent mapping between joint torques and end-effector forces seems to be interesting to assess the effectiveness of force or movement transmission for biomechanical and ergonomic applications (Oshima et al 2000;Sasaki et al 2011;Jacquier-Bret et al 2012;Rezzoug et al 2012). Several studies have tried to construct such mapping and compare the resulting forces in the transverse plane (Oshima et al 2000;Sasaki et al 2011).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Comparison between model-based and measured force polytopes: towards isometric force capacity evaluation

Rezzoug

Hernandez

Jacquier-Bret

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comparison between model-based and measured force polytopes: towards isometric force capacity evaluation

Rezzoug

Hernandez

Jacquier-Bret

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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show abstract

“…The asymmetry in joint motion directions was shown in the results of robustness to muscle loss (Kutch and Valero-Cuevas 2011). Though the musculoskeletal model enables expression of the phenomenon with higher accuracy (Kutch and Valero-Cuevas 2011;Oshima et al 2000), it also causes some problems (e.g. identification of model parameters and ill-posed problem of redundant variables).…”

Section: Limitations Of This Study and Further Considerationsmentioning

confidence: 99%

Application of robotic manipulability indices to evaluate thumb performance during smartphone touch operations

Endô

2014

Ergonomics

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This study examined whether manipulability during smartphone thumb-based touch operations could be predicted by the following robotic manipulability indices: the volume and direction of the 'manipulability ellipsoid' (MEd), both of which evaluate the influence of kinematics on manipulability. Limits of the thumb's range of motion were considered in the MEd to improve predictability. Thumb postures at 25 key target locations were measured in 16 subjects. Though there was no correlation between subjective evaluation and the volume of the MEd, high correlation was obtained when motion range limits were taken into account. These limits changed the size of the MEd and improved the accuracy of the manipulability evaluation. Movement directions associated with higher performance could also be predicted. In conclusion, robotic manipulability indices with motion range limits were considered to be useful measures for quantitatively evaluating human hand operations.

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“…A biologically inspired approach widely used to resolve actuator redundancy in robot applications [7,9,18,19] is the phase different control (PDC) [20].…”

Section: Introductionmentioning

confidence: 99%

Non-linear phase different control for precise output force of bi-articularly actuated manipulators

Salvucci

Kimura

et al. 2013

Advanced Robotics

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Bi-articular actuators -actuator spanning two joints -play fundamental role in robot arms designed under the human musculoskeletal actuation paradigm. Unlike kinematic redundancy, actuator redundancy resulting from bi-articular actuation brings advantages such as increasing stability, reducing link's inertia, and decreasing non-linearity of the end-effector force with respect to the force direction. The traditional phase different control (PDC) resolves actuator redundancy on the basis of a linearized model derived from measured human muscle activity. Such linear model produces a non-zero error in calculation between a desired output force and necessary inputs. In this paper, the non-linear phase different control (NLPDC) is proposed to resolve actuator redundancy with no error. The maximum end-effector force of BiWi, bi-articularly actuated, and wire-driven arm, is measured using both PDC and NLPDC. When the robot arm moves towards singular configurations, the measured error in output force remains within the modeling error if using NLPDC, while such error increases significantly for PDC. Furthermore, unlike PDC, the proposed NLPDC allows design of joint stiffness and torque independently, reduction of necessary total muscle input force, and precise calculation of maximum output force.

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Robotic analyses of output force distribution developed by human limbs

Cited by 40 publications

References 4 publications

Comparison between model-based and measured force polytopes: towards isometric force capacity evaluation

Comparison between model-based and measured force polytopes: towards isometric force capacity evaluation

Application of robotic manipulability indices to evaluate thumb performance during smartphone touch operations

Non-linear phase different control for precise output force of bi-articularly actuated manipulators

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