By Topic

Real-time estimation of human impedance for haptic interfaces

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hill, M.D. ; Dept. of Mech. Eng., Stanford Univ., Stanford, CA ; Niemeyer, G.

Humans significantly vary the impedance of their limbs during many manipulation tasks and during interaction with their environment. Humans vary their impedance to reduce contact forces, to increase positional control, and to stabilize unstable dynamics. The neuromuscular system modulates overall limb impedance by strategically selecting appropriate limb configurations and by selective activation of musculature. To date, haptic interfaces neither respond to nor measure these effects. We seek a real-time measurement technique to estimate user impedance, with the hope of enabling variable impedance based control of telerobots and haptic environments. We propose that such a measure might be generated through the introduction of controlled vibrations to the user through a haptic device. A model for such a system and its implications on device design is described. The results of preliminary study using a prototype device are compared to reference measurements of user stiffness and grip force.

Published in:

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date of Conference:

18-20 March 2009