Estimation of multijoint limb stiffness from EMG during reaching movements

APBME 2003 - IEEE EMBS Asian-Pacific Conference on Biomedical Engineering 2003

Volumn , Issue , 2003, Pages 224-225

  Franklin, David W ^a,b   Leung, Frances ^a,c   Kawato, Mitsuo ^a   Milner, Theodore E ^b  

^a ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^b SIMON FRASER UNIVERSITY   (Canada)

^c UNIVERSITY OF TORONTO   (Canada)

Author keywords

Endpoint stiffness; Force field adaptation; Impedance; Joint stiffness; Joint torque

Indexed keywords

BIOMEDICAL ENGINEERING; ELECTRIC IMPEDANCE; JOINTS (ANATOMY); MANIPULATORS; MUSCLE;

DIRECT MEASUREMENT; DYNAMIC ENVIRONMENTS; ELECTROMYOGRAPHIC ACTIVITY; FORCE FIELDS; JOINT STIFFNESS; JOINT TORQUES; REACHING MOVEMENTS; ROBOTIC MANIPULATORS;

STIFFNESS;

EID: 58949104079     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/APBME.2003.1302664     Document Type: Conference Paper

References (8)

1. E. Birrdet, R. Osu, D. W. Franklin, T, Yoshioka, T.E. Milner, and M. Kawato, "A method for measuring endpoint stiffness during multi - joint arm movements, " J Biomech. vol. 33.pp. 1705-9. 2000.
2. H. Gomi and M, Kawato. "Human arm stiffness and equilibrium-point trajectory during multi-joint movement." Biol Cybern, vol. 76. pp. 163-71, 1997.
3. D.W. Franklin, and T.e. Milner. "A technique for estimating endpoint stiffness from electromyographic activity during multijoint movements, " The International Symposivn on Movemeiri, Analysis and Modeling of Human Functions. Sappcro, Japan, pp. 334-339, 2001.
4. D.W. Franklin, R. Osu, E. Burdel, M, Kawato, and T.E. Milner, "Adaptation lo stable and unstable dynamics achieved by combined impedance control and inverse dynamics model, " J Neurophysiol. in press.
5. D.W. Franklin, E. Burdet, R. Osu, M. Kavato, and T.E. Milner. "Functional significance of stifihess in adaptation of multijoint arm movements to stable and unstable environments, " Exp Brain Res. in press.
6. E. Burdet, R. Osu, D.W. Franklin, T.E. Milner, and M. Kawato, "The central nervous system stabilizes unstable dynamics by learning optimal impedance." Nature, vol. 414, pp. 446-9, 2001.
7. JF. Soechting, and W.J. Roberts. "Transfer characteristics between EMG activity and muscle tension under isometric conditions in man, " J Physiol (Paris), vol. 70. pp. 779-93, 1976.
8. S.L. Aaron, and R.B. Stein. "Comparison of an EMG-controlled prosthesis and the normal human biceps brachii muscle, " Am J Phvs Med. vol. 55. pp. 1-14. 1976.