title: Stochastic estimation of human shoulder impedance with robots: an experimental design.
abstract: Previous studies assumed the shoulder as a hinge joint during human arm impedance measurement. This is obviously a vast simplification since the shoulder is a complex of several joints with multiple degrees of freedom. In the present work, a practical methodology for more general and realistic estimation of human shoulder impedance is proposed and validated with a spring array. It includes a gravity compensation scheme, which is developed and used for the experiments with a spatial three degrees of freedom PUMA-type robot. The experimental results were accurate and reliable, and thus it has shown a strong potential of the proposed methodology in the estimation of human shoulder impedance.
authors.affiliation: Department of Mechanical Engineering, KAIST, Daejeon, Korea. pkbin98@kaist.ac.kr
authors.forename: Kyungbin
authors.initials: K
authors.lastname: Park
authors.forename: Pyung Hun
authors.initials: PH
authors.lastname: Chang
mesh_terms: D001696:Biomechanical Phenomena; D017097:Electric Impedance; D006801:Humans; D007596:Joints / Q000502:physiology*; D009068:Movement / Q000502:physiology; D012371:Robotics / Q000295:instrumentation / Q000379:methods; D012782:Shoulder / Q000502:physiology*