Title :
Destabilizing effects of muscular co-contraction in human-machine interaction
Author :
Hollerbach, Karin ; Ramos, C.F. ; Kazerooni, H.
Author_Institution :
Graduate Group in Bioengineering, University of California, Berkeley, CA 94720
Abstract :
We are studying the control of human arm movements that are constrained by physical interaction with a machine such as a hand controller or a telerobotic system. One of the difficulties in controlling this type of constrained interaction is instability in the human arm-machine system. In this article, we present simulation results showing that increasing muscular co-contraction destabilizes human-machine interaction. Results of this work may have an impact on the design of machines that are to interact with humans.
Keywords :
Control systems; Damping; Force feedback; Humans; Man machine systems; Muscles; Orthotics; Springs; Stability; Telerobotics;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3