Estimating Human Wrist Stiffness during a Tooling Task.

Sensors
Gia-Hoang PhanDomenico Campolo

Abstract

In this work, we propose a practical approach to estimate human joint stiffness during tooling tasks for the purpose of programming a robot by demonstration. More specifically, we estimate the stiffness along the wrist radial-ulnar deviation while a human operator performs flexion-extension movements during a polishing task. The joint stiffness information allows to transfer skills from expert human operators to industrial robots. A typical hand-held, abrasive tool used by humans during finishing tasks was instrumented at the handle (through which both robots and humans are attached to the tool) to assess the 3D force/torque interactions between operator and tool during finishing task, as well as the 3D kinematics of the tool itself. Building upon stochastic methods for human arm impedance estimation, the novelty of our approach is that we rely on the natural variability taking place during the multi-passes task itself to estimate (neuro-)mechanical impedance during motion. Our apparatus (hand-held, finishing tool instrumented with motion capture and multi-axis force/torque sensors) and algorithms (for filtering and impedance estimation) were first tested on an impedance-controlled industrial robot carrying out the finishing ta...Continue Reading

References

Jan 1, 1985·Biological cybernetics·N Hogan
Jan 1, 1995·Biological cybernetics·T TsujiK Ito
Jan 1, 1995·Experimental Brain Research·J Won, N Hogan
Sep 28, 2000·Journal of Biomechanics·E BurdetM Kawato
Nov 21, 2001·Experimental Brain Research·E J PerreaultP E Crago
Oct 7, 2005·Journal of Neurophysiology·Vikram S ChibFerdinando A Mussa-Ivaldi
Nov 12, 2005·Biological cybernetics·E BurdetM Kawato
Jun 7, 2011·Experimental Brain Research·Domenico CampoloEtienne Burdet
Jan 10, 2012·Computer Methods in Biomechanics and Biomedical Engineering·Domenico Campolo
Jun 1, 2012·Journal of Neurophysiology·Domenico FormicaHermano I Krebs
Oct 4, 2012·IEEE Transactions on Bio-medical Engineering·Daniel Ludvig, Eric J Perreault
Nov 30, 2012·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Davide PiovesanMaura Casadio
Nov 26, 2015·Frontiers in Computational Neuroscience·Maura CasadioFerdinando A Mussa-Ivaldi
Jun 2, 2016·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Kyungbin ParkSang Hoon Kang
Mar 1, 2019·Sensors·Theresa RolandWerner Baumgartner

❮ Previous
Next ❯

Citations

Sep 24, 2020·Sensors·Yuqiang WuArash Ajoudani
Oct 30, 2020·Sensors·Frédéric Marin

❮ Previous
Next ❯

Methods Mentioned

BETA
force measurement

Software Mentioned

Matlab

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.

Related Papers

Le Chirurgien-dentiste de France
J Charon
Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society
D PiovesanJames R Lackner
© 2022 Meta ULC. All rights reserved