A model of force and impedance in human arm movements

Biological cybernetics
K P TeeT E Milner

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.

Citations

Apr 28, 2005·Experimental Brain Research·Mark R Hinder, Theodore E Milner
Nov 12, 2005·Biological cybernetics·E BurdetM Kawato
Nov 26, 2009·Biological cybernetics·Keng Peng TeeEtienne Burdet
Feb 10, 2011·Journal of Biomechanical Engineering·Davide PiovesanJames R Lackner
Jul 5, 2012·Journal of Biomechanical Engineering·Hung P Nguyen, Jonathan B Dingwell
Aug 19, 2011·Journal of Neurophysiology·Abdelhamid KadiallahEtienne Burdet
Jul 27, 2012·Journal of Neurophysiology·Xiao HuEric J Perreault
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Sep 5, 2007·Journal of Neuroengineering and Rehabilitation·Ivan BernabucciTommaso D'Alessio
Mar 31, 2017·Journal of Neurophysiology·Alejandro Melendez-CalderonJames L Patton
Dec 19, 2017·Frontiers in Neurorobotics·Paolo Tommasino, Domenico Campolo
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Feb 29, 2020·PLoS Computational Biology·Bastien Berret, Frédéric Jean

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