Measurement of Human Hand Impedance in Dual Arm Configurations

Yusaku Takeda; Yoshiyuki Tanaka; Toshio Tsuji

doi:10.20965/jrm.2004.p0635

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JRM Vol.16 No.6 pp. 635-642

doi: 10.20965/jrm.2004.p0635

(2004)

Paper:

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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

Received:

August 6, 2004

Accepted:

September 28, 2004

Published:

December 20, 2004

Keywords:

human movements, hand impedance characteristics, dual arm posture, joint impedance

Abstract

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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References

[1] F. A. Mussa-Ivaldi, N. Hogan, and E. Bizzi, “Neural, mechanical and geometric factors subserving arm in humans,” Journal of Neuroscience, Vol.5, No.10, pp. 2732-2743, 1985.
[2] J. M. Dolan, M. B. Friendman, and M. L. Nagarka, “Dynamics and loaded impedance components in the maintenance of human arm posture,” IEEE Transaction on Systems, Man and Cybernetics, Vol.23, No.3, pp. 698-709, 1993.
[3] T. Tsuji, K. Goto, K. Ito, and M. Nagamachi, “Estimation of human hand impedance during maintenance of posture,” Transactions of the Society of Instrument and Control Engineers, Vol.30, No.3, pp. 319-328, 1994 (in Japanese).
[4] T. Tsuji, P. Morasso, K. Goto, and K. Ito, “Human hand impedance characteristics during maintained posture in multi-joint arm movements,” Biological Cybernetics, Vol.72, pp. 475-485, 1995.
[5] T. Tsuji, M. Moritani, M. Kaneko, and K. Ito, “An analysis of human hand impedance characteristics during isometric muscle contractions,” Transactions of the Society of Instrument and Control Engineers, Vol.32, No.2, pp. 271-280, 1996 (in Japanese).
[6] H. Gomi, and M. Kawato, “Mechanical impedance of human arm during multi-joint movement in horizontal Plane,” Transactions of the Society of Instrument and Control Engineers, Vol.32, No.3, pp. 369-378, 1996 (in Japanese).
[7] G. J. Garvin, M. Zefran, E. A. Henis, and V. Kumar, “Two-arm trajectory planning in a manipulation task,” Biological Cybernetics, Vol.76, pp. 53-62, 1997.
[8] J. P. Desai, M. Zefran, and V. Kumar, “Two arm manipulation tasks with friction assisted grasping,” Advanced Robotics, Vol.12, No.5, pp. 485-508, 1998.
[9] T. Kitamura, M. Katayama, X.-Z. Zheng, and K. Ito, “Identification of human hand impedance during cooperative manipulation with both hands,” Proceedings of the 11th Symposium on Biological and Physiological Engineering, pp. 353-356, 1996 (in Japanese).
[10] Z. Li, K. Kubo, and S. Kawamura, “Effect of hand force on rotational stiffness of bicycle handle,” Transactions of the Society of Instrument and Control Engineers, Vol.38, No.11, pp. 915-921, 2002 (in Japanese).
[11] N. Hogan, “The Machanics of Multi-joint Posture and Movement Control,” Biological Cybernetics, Vol.53, pp. 1-17, 1985.
[12] T. Tsuji, Y. Kanji, T. Kato, M. Kaneko, and S. Kawamura, “Impedance training: can we regulate our hand impedance through training?” Transactions of the Society of Instrument and Control Engineers, Vol.35, No.10, pp. 1300-1306, 1999 (in Japanese).
[13] T. Tsuji, “Measuring viscoelasticity in human arm movements,” Journal of the Society of Instrument and Control Engineers, Vol.35, No.9, pp. 689-695, 1996 (in Japanese).
[14] T. Flash, and I. Gurevich, “Model of motor adaptation and impedance control in human arm movements,” Self-Organization, Computational Maps, and Motor Control, pp. 423-481, 1997.
[15] T. Yoshikawa, “Foundations of robot control,” Corona Publishing CO.,LTD., pp. 109-131, 1988 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] F. A. Mussa-Ivaldi, N. Hogan, and E. Bizzi, “Neural, mechanical and geometric factors subserving arm in humans,” Journal of Neuroscience, Vol.5, No.10, pp. 2732-2743, 1985.

[2] [2] J. M. Dolan, M. B. Friendman, and M. L. Nagarka, “Dynamics and loaded impedance components in the maintenance of human arm posture,” IEEE Transaction on Systems, Man and Cybernetics, Vol.23, No.3, pp. 698-709, 1993.

[3] [3] T. Tsuji, K. Goto, K. Ito, and M. Nagamachi, “Estimation of human hand impedance during maintenance of posture,” Transactions of the Society of Instrument and Control Engineers, Vol.30, No.3, pp. 319-328, 1994 (in Japanese).

[4] [4] T. Tsuji, P. Morasso, K. Goto, and K. Ito, “Human hand impedance characteristics during maintained posture in multi-joint arm movements,” Biological Cybernetics, Vol.72, pp. 475-485, 1995.

[5] [5] T. Tsuji, M. Moritani, M. Kaneko, and K. Ito, “An analysis of human hand impedance characteristics during isometric muscle contractions,” Transactions of the Society of Instrument and Control Engineers, Vol.32, No.2, pp. 271-280, 1996 (in Japanese).

[6] [6] H. Gomi, and M. Kawato, “Mechanical impedance of human arm during multi-joint movement in horizontal Plane,” Transactions of the Society of Instrument and Control Engineers, Vol.32, No.3, pp. 369-378, 1996 (in Japanese).

[7] [7] G. J. Garvin, M. Zefran, E. A. Henis, and V. Kumar, “Two-arm trajectory planning in a manipulation task,” Biological Cybernetics, Vol.76, pp. 53-62, 1997.

[8] [8] J. P. Desai, M. Zefran, and V. Kumar, “Two arm manipulation tasks with friction assisted grasping,” Advanced Robotics, Vol.12, No.5, pp. 485-508, 1998.

[9] [9] T. Kitamura, M. Katayama, X.-Z. Zheng, and K. Ito, “Identification of human hand impedance during cooperative manipulation with both hands,” Proceedings of the 11th Symposium on Biological and Physiological Engineering, pp. 353-356, 1996 (in Japanese).

[10] [10] Z. Li, K. Kubo, and S. Kawamura, “Effect of hand force on rotational stiffness of bicycle handle,” Transactions of the Society of Instrument and Control Engineers, Vol.38, No.11, pp. 915-921, 2002 (in Japanese).

[11] [11] N. Hogan, “The Machanics of Multi-joint Posture and Movement Control,” Biological Cybernetics, Vol.53, pp. 1-17, 1985.

[12] [12] T. Tsuji, Y. Kanji, T. Kato, M. Kaneko, and S. Kawamura, “Impedance training: can we regulate our hand impedance through training?” Transactions of the Society of Instrument and Control Engineers, Vol.35, No.10, pp. 1300-1306, 1999 (in Japanese).

[13] [13] T. Tsuji, “Measuring viscoelasticity in human arm movements,” Journal of the Society of Instrument and Control Engineers, Vol.35, No.9, pp. 689-695, 1996 (in Japanese).

[14] [14] T. Flash, and I. Gurevich, “Model of motor adaptation and impedance control in human arm movements,” Self-Organization, Computational Maps, and Motor Control, pp. 423-481, 1997.

[15] [15] T. Yoshikawa, “Foundations of robot control,” Corona Publishing CO.,LTD., pp. 109-131, 1988 (in Japanese).