JRM Vol.16 No.6 pp. 635-642
doi: 10.20965/jrm.2004.p0635


Measurement of Human Hand Impedance in Dual Arm Configurations

Yusaku Takeda, Yoshiyuki Tanaka, and Toshio Tsuji

Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan

August 6, 2004
September 28, 2004
December 20, 2004
human movements, hand impedance characteristics, dual arm posture, joint impedance

Dynamic characteristics of a human extremity are usually expressed using the mechanical impedance. This paper examines hand impedance in dual arm movements while posture was maintained in dual-arm configurations. The results of experiments show that the orientation of viscosity ellipses roughly agrees with the human sagittal axis, tending to be oriented similar to stiffness ellipses. Viscosity and stiffness amplitude and orientation exceed those of single arm. Our results will be used in human-robot cooperation systems and in analyzing human movements.

Cite this article as:
Y. Takeda, Y. Tanaka, and T. Tsuji, “Measurement of Human Hand Impedance in Dual Arm Configurations,” J. Robot. Mechatron., Vol.16, No.6, pp. 635-642, 2004.
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