| Presentation | 1996/6/21 Sensitivity of change in directional characteristics of human arm stiffness under different postural conditions Hiroaki GOMI, Rieko OSU, |
|---|---|
| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The sensitivities of the geometrical characteristics of arm stiffness at hand during force control in the horizontal plane were investigated, which are indexed by shape and orientation of stiffness ellipse and characterized by arm posture and ratios between shoulder, elbow, and double-joint stiffness. At the distal hand position, as previously studied, geometrical characteristics, shape and orientation of stiffness ellipse, derived from arm stiffness matrix, were not much altered under different requested conditions. At the proximal hand position, those characteristics, however, were much altered. From theoretical analyses, it has been revealed that the shape and orientation of ellipse are insensitive to the changes of the joint stiffness ratios at the distal hand position, and are sensitive to those changes at the proximal hand position. In other words, slight changes of geometrical characteristics of stiffness ellipse do not directly indicate slight changes of joint stiffness ratios. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | arm stiffness / stiffness ellipse / impedance control / force control / biological motor control |
| Paper # | NC96-19 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
|---|---|
| Conference Date | 1996/6/21(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Neurocomputing (NC) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Sensitivity of change in directional characteristics of human arm stiffness under different postural conditions |
| Sub Title (in English) | |
| Keyword(1) | arm stiffness |
| Keyword(2) | stiffness ellipse |
| Keyword(3) | impedance control |
| Keyword(4) | force control |
| Keyword(5) | biological motor control |
| 1st Author's Name | Hiroaki GOMI |
| 1st Author's Affiliation | NTT Basic Research Labs.() |
| 2nd Author's Name | Rieko OSU |
| 2nd Author's Affiliation | ATR Human Information Processing Res. Labs. |
| Date | 1996/6/21 |
| Paper # | NC96-19 |
| Volume (vol) | vol.96 |
| Number (no) | 117 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |