A Testbed for Measurement of Human Arm Impedance Parameters

Authors

John M. Dolan, Carnegie Mellon University
Mark B. Friedman, Carnegie Mellon University
Mark L. Nagurka, Marquette UniversityFollow

Document Type

Article

Language

eng

Publication Date

8-9-1990

Publisher

Institute of Electrical and Electronic Engineers (IEEE)

Source Publication

1990 IEEE International Conference on Systems Engineering

Source ISSN

0780301730

Original Item ID

DOI: 10.1109/ICSYSE.1990.203113

Abstract

The development of an experimental testbed for the investigation of human arm impedance is described. A two-degree-of-freedom SCARA-configuration robotic arm with an endpoint force sensor has been developed for measuring parameters such as postural viscosity and dynamic stiffness and viscosity. The measurement device is used in disturbance tests to determine the degree and nature of impedance tuning during various tasks

Comments

Published as a part of 1990 IEEE International Conference on Systems Engineering (August 9-11, 1990). DOI.

Mark L. Nagurka was affiliated with Carnegie Mellon University at the time of publication.

Recommended Citation

Dolan, John M.; Friedman, Mark B.; and Nagurka, Mark L., "A Testbed for Measurement of Human Arm Impedance Parameters" (1990). Mechanical Engineering Faculty Research and Publications. 185.
https://epublications.marquette.edu/mechengin_fac/185