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JRM Vol.3 No.6 pp. 455-462
doi: 10.20965/jrm.1991.p0455
(1991)

Paper:

Impedance Regulation in Human Movements During a Rotation Task

Koji Ito, Toshio Tsuji, and Minoru Sugino

Faculty of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-hiroshima-shi, Hiroshima 724, Japan

Received:
May 18, 1991
Accepted:
November 24, 1991
Published:
December 20, 1991
Keywords:
Arm redundancy, Impedance, Hand manipulation, Motor control, Force control
Abstract

In this paper, we discuss how the human subject controls the hand position and force depending upon the task objects and what roles the arm redundancy and muscle impedance regulation play in rotation. From the measurement of the hand force and arm posture in the execution of crank rotations, it was found that the subject made wrist joint impedance large and generated hand force in the both directions normal and tangential to the crank rotation. Impedance analysis demonstrated that the high impedance of the wrist joint, realized by simultaneous activities of the flexor and extensor muscles, provided for the posture of redundant arm without limiting the hand manipulatability. It was also shown that the hand force in the outer and normal directions contributed to an increase in the robustness of the hand manipulation against external disturbances.

Cite this article as:
K. Ito, T. Tsuji, and M. Sugino, “Impedance Regulation in Human Movements During a Rotation Task,” J. Robot. Mechatron., Vol.3, No.6, pp. 455-462, 1991.
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