Modeling the human hand as it interacts with a telemanipulation system

Mechatronics

Volumn 15, Issue 9, 2005, Pages 1127-1142

  Speich, John E ^a   Shao, Liang ^b   Goldfarb, Michael ^b  

^a VIRGINIA COMMONWEALTH UNIVERSITY   (United States)

^b VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FREQUENCY DOMAIN ANALYSIS; HAPTIC INTERFACES; MATHEMATICAL MODELS; PARAMETER ESTIMATION; SET THEORY;

CONTROL ARCHITECTURE; FIVE-PARAMETER MODEL; HUMAN MODEL; TELEMANIPULATION SYSTEM;

BIOLOGICAL ORGANS;

EID: 23944436852     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2005.06.001     Document Type: Article

References (18)

1. Fite KB, Speich JE, Goldfarb M. On the use of two channels for bilateral telemanipulation. In: Proceedings of the ASME international mechanical engineering congress and exposition. 2000. p. 1231-8.
2. Speich JE, Fite KB, Goldfarb M. A method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation. In: Proceedings of the IEEE international conference on robotics and automation. 2000. p. 2671-6.
3. K.B. Fite, M. Goldfarb, and J.E. Speich Transparency and stability robustness in two-channel bilateral telemanipulation ASME J Dyn Syst Measurement Control 123 5 2001 400 407
4. Speich JE, Goldfarb M. Implementing loop-shaping compensators to increase the transparency bandwidth of a scaled telemanipulation system. In: Proceedings of the IEEE international conference on robotics and automation. 2002.
5. Kosuge K, Fujisawa Y, Fukuda T. Control of mechanical system with man-machine interaction. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems. 1992. p. 87-92.
6. D.A. Lawrence Stability and transparency in bilateral telemanipulation IEEE Trans Robot Automat 9 5 1993 624 637
7. H. Kazerooni Human-robot interaction via the transfer of power and information signals IEEE Trans Syst Man Cybern 20 2 1990 450 463
8. F. Mussa-Ivaldi, N. Hogan, and E. Bizzi Neural, mechanical, and geometric factors subserving arm posture in humans J Neurosci 5 10 1985 2732 2743
9. T. Flash, and F. Mussa-Ivaldi Human arm stiffness characteristics during the maintenance of posture Exp Brain Res 82 1990 315 326
10. Tsuji T, Goto K, Moritani M, Kaneko M, Morasso P. Spatial characteristics of human hand impedance in multi-joint arm movements. In: Proceedings of the IEEE/RSJ/GI international conference on intelligent robots and systems. 1994. p. 423-30.
11. J.M. Dolan, M.B. Friedman, and M.L. Nagurka Dynamic and loaded impedance components in the maintenance of human arm posture IEEE Trans Syst Man Cybern 23 3 1993 698 709
12. Gomi H, Koike Y, Kawato M. Human hand stiffness during discrete point-to-point multi-joint movement. In: Proceedings of the IEEE international conference on engineering in medicine and biology society. 1992. p. 1628-9.
13. Ikeura R, Monden H, Inooka H. Cooperative motion control of a robot and a human. In: Proceedings of the IEEE international workshop on robot and human communication. 1994. p. 112-7.
14. Rahman MM, Ikeura R, Mizutani K. Investigating the impedance characteristics of human arm for development of robots to cooperate with human operators. In: Proceedings of the IEEE international conference on systems, man and cybernetics. 1999. p. 676-81.
15. C. Chou, and B. Hannaford Study of human forearm posture maintenance with a physiologically based robotic arm and spinal level neural controller Biol Cybern 76 1997 285 298
16. Kuchenbecker KJ, Park JG, Niemeyer G. Characterizing the human wrist for improved haptic interaction. In: Proceedings of the ASME international mechanical engineering congress and exposition. 2003.
17. A.Z. Hajian, and R.D. Howe Identification of the mechanical impedance at the human finger tip ASME J Biomech Eng 119 1 1997 109 114
18. Speich JE, Shao L, Goldfarb M. An experimental hand/arm model for human interaction with a telemanipulation system. In: Proceedings of the ASME international mechanical engineering congress and exposition. 2001.