Title :
Measurement of human arm impedance using the human arm posture
Author :
Eun-Cheol Shin ; Jee-Hwan Ryu ; Ho-Gil Lee
Author_Institution :
Robot Convergence R&D Group, KITECH, Ansan, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
In a tele-operation system, the work efficiency can be improved by altering the impedance of a slave robot in accordance with the characteristics of the work. The impedance intended by an operator should be measured because the impedance of a slave robot should reflect the intention of the operator. Besides, the measured impedance should be obliged to include the information of its value and direction. In this paper, the method of using a single-axis force sensor as well as the posture of an operator is proposed so as to measure the value and direction of the impedance intended by the operator. Also, the proposed method is applied to Phantom that is widely used in tele-operation systems to validate its usefulness.
Keywords :
telerobotics; Phantom; human arm impedance; human arm posture; slave robot; tele-operation system; Tele-operation; human arm impedance; impedance transmission;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677379