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  4. Control of 3D human arm impedance
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Control of 3D human arm impedance

Full metadata

Description

Humans have an inherent capability of performing highly dexterous and skillful tasks with their arms, involving maintaining posture, movement and interacting with the environment. The latter requires for them to control the dynamic characteristics of the upper limb musculoskeletal system. Inertia, damping and stiffness, a measure of mechanical impedance, gives a strong representation of these characteristics. Many previous studies have shown that the arm posture is a dominant factor for determining the end point impedance in a horizontal plane (transverse plane). The objective of this thesis is to characterize end point impedance of the human arm in the three dimensional (3D) space. Moreover, it investigates and models the control of the arm impedance due to increasing levels of muscle co-contraction. The characterization is done through experimental trials where human subjects maintained arm posture, while perturbed by a robot arm. Moreover, the subjects were asked to control the level of their arm muscles' co-contraction, using visual feedback of their muscles' activation, in order to investigate the effect of the muscle co-contraction on the arm impedance. The results of this study showed a very interesting, anisotropic increase of the arm stiffness due to muscle co-contraction. This can lead to very useful conclusions about the arm biomechanics as well as many implications for human motor control and more specifically the control of arm impedance through muscle co-contraction. The study finds implications for the EMG-based control of robots that physically interact with humans.

Date Created
2013
Contributors
  • Patel, Harshil Naresh (Author)
  • Artemiadis, Panagiotis (Thesis advisor)
  • Berman, Spring (Committee member)
  • Helms Tillery, Stephen (Committee member)
  • Arizona State University (Publisher)
Topical Subject
  • Mechanical Engineering
  • robotics
  • Mechanical impedance
  • Muscle contraction
  • Arm--Movements.
  • Arm
Resource Type
Text
Genre
Masters Thesis
Academic theses
Extent
viii, 63 p. : ill. (some col.)
Language
eng
Copyright Statement
In Copyright
Reuse Permissions
All Rights Reserved
Primary Member of
ASU Electronic Theses and Dissertations
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.I.17978
Embargo Release Date
Wed, 04/29/2015 - 19:59
Statement of Responsibility
by Harshil Naresh Patel
Description Source
Viewed on Dec. 18, 2013
Level of coding
full
Note
Partial requirement for: M.S., Arizona State University, 2013
Note type
thesis
Includes bibliographical references (p. 60-63)
Note type
bibliography
Field of study: Mechanical engineering
System Created
  • 2013-07-12 06:26:03
System Modified
  • 2021-08-30 01:41:14
  •     
  • 1 year 5 months ago
Additional Formats
  • OAI Dublin Core
  • MODS XML

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