Name
Title | ||
|---|---|---|
Conditioning vs. excitation time for estimating impedance parameters of the human arm |
Abstract | ||
|---|---|---|
The human arm's capability to alter its impedance has motivated multiple developments of robotic manipulators and control methods. It provides advantages during manipulation such as robustness against external disturbances and task adaptability. However, how the impedance of the arm is set depends on the manipulation situation; a general procedure is lacking. This paper aims to fill this gap by providing a method to estimate the impedance parameters of the human arm, while taking the numerical stability of the approach into account. A dynamic arm model and an identification method is presented. Confidential criteria to determine the accuracy of the estimated parameters are given. Finally, the procedure is validated in an experiment with a human subject and the results are discussed. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/Humanoids.2011.6100872 | Humanoid Robots |
Keywords | Field | DocType |
manipulator dynamics,numerical stability,parameter estimation,conditioning time,confidential criteria,control methods,dynamic arm model,excitation time,human arm capability,human subject,identification method,impedance parameter estimation,manipulation situation,numerical stability,robotic manipulators | Adaptability,Impedance parameters,Human arm,Simulation,Computer science,Control theory,Electrical impedance,Robustness (computer science),Excitation,Estimation theory,Numerical stability | Conference |
ISSN | ISBN | Citations |
2164-0572 E-ISBN : 978-1-61284-867-9 | 978-1-61284-867-9 | 6 |
PageRank | References | Authors |
0.55 | 5 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dominic Lakatos | 1 | 47 | 8.03 |
| Florian Petit | 2 | 90 | 7.90 |
| P. Patrick van der Smagt | 3 | 6 | 0.55 |