Online Human Multi-joint Arm's Viscoelasicity Estimation during Movement

被引：0
|
作者：
Kataguchi, Tomofumi [1 ]
Deng, Mingcong [1 ]
Noge, Yuichi [1 ]
机构：
[1] Tokyo Univ Agr & Technol, Grad Sch Engn, Tokyo, Japan
来源：
2019 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2019年
关键词：
Human multi-joint arm; Three-link arm model; viscoelasticity; estimation; generalized Gaussian distribution; STIFFNESS; JOINT; VISCOELASTICITY; IDENTIFICATION;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, the way to estimate human multi-joint arm viscoelasticity is proposed. Firstly, the model of human multi joint arm and the definition of viscoelasticity are introduced. This model includes not only shoulder and elbow joints but also a wrist joint. Next, an estimation algorithm of viscoelasticity with generalized Gaussian distribution is described to compensate the experimental noise. Finally, an experiment is conducted to clarify the effectiveness of the estimation algorithm.
引用
收藏
页码：250 / 254
页数：5
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