Please use this identifier to cite or link to this item:
|Title:||A model of force and impedance in human arm movements|
Stable and unstable interactions
|Citation:||Tee, K.P., Burdet, E., Chew, C.M., Milner, T.E. (2004-05). A model of force and impedance in human arm movements. Biological Cybernetics 90 (5) : 368-375. ScholarBank@NUS Repository. https://doi.org/10.1007/s00422-004-0484-4|
|Abstract:||This paper describes a simple computational model of joint torque and impedance in human arm movements that can be used to simulate three-dimensional movements of the (redundant) arm or leg and to design the control of robots and human-machine interfaces. This model, based on recent physiological findings, assumes that (1) the central nervous system learns the force and impedance to perform a task successfully in a given stable or unstable dynamic environment and (2) stiffness is linearly related to the magnitude of the joint torque and increased to compensate for environment instability. Comparison with existing data shows that this simple model is able to predict impedance geometry well. © Springer-Verlag 2004.|
|Source Title:||Biological Cybernetics|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Jul 14, 2018
WEB OF SCIENCETM
checked on Jul 4, 2018
checked on Jun 8, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.