DocumentCode :
1956263
Title :
Impedance identification of human fingers using virtual task environment
Author :
YOSHIKAWA, Tsuneo ; CHINOO, Yuki
Author_Institution :
Dept. of Mech. Eng., Kyoto Univ., Japan
Volume :
2
fYear :
2003
fDate :
20-24 July 2003
Firstpage :
759
Abstract :
Humans unconsciously use efficient algorithms when performing a manipulation task by their hands. Robots can be made more efficient by applying these same algorithms. In this paper, we focus on the mechanical impedance of the operator´s fingers as a key parameter for describing such kind of algorithms. To overcome the difficulty of identifying the parameters in the real world task, we propose to use a virtual task environment based on the haptic virtual reality technology. Some preliminary experiments are presented to show the validity of the proposed approach.
Keywords :
biomechanics; haptic interfaces; parameter estimation; virtual reality; haptic virtual reality; human fingers; impedance identification; impedance model; manipulation task; mechanical impedance; parameter estimation; robots; virtual task environment; Equations; Fingers; Force measurement; Humans; Impedance; Mechanical engineering; Mechatronics; Parameter estimation; Robots; Vibration measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
Type :
conf
DOI :
10.1109/AIM.2003.1225438
Filename :
1225438
Link To Document :
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