By Topic

Three-dimensional human arm and hand dynamics and variability model for a stylus-based haptic interface

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
$33 $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)
Michael J. Fu ; Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH 44106, USA ; M. Cenk Æavuşoğlu

Human-computer/machine interface research benefits from accurate human arm models for stability analysis, control, and system design. The current study developed models for human arm dynamics and variability specific to stylus-based kinesthetic haptic interfaces. Data from nine human subjects (5 male, 4 female, ages 20-30) were collected using a three degree-of-freedom haptic device in the X, Y, and Z axes along with a range of grip forces (1-3N) for parametric system identification of the human arm and hand. Variability models that accounted for subject and grip force variation were also identified. The arm and hand model structure consisted of a third-order linear parametric transfer function that was paired with a previously derived second-order model for the haptic robot. The variability was modeled as multiplicative unstructured uncertainty using transfer functions. All of the model parameters were identified in the frequency domain and have force as input and position as output.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010