A novel characterization method to study multivariable joint mechanical impedance

@article{Lee2012ANC,
  title={A novel characterization method to study multivariable joint mechanical impedance},
  author={Hyunglae Lee and Hermano Igo Krebs and N. Hogan},
  journal={2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
  year={2012},
  pages={1524-1529}
}
This paper presents a novel method to characterize mechanical impedance of a human joint. We employed a non-parametric stochastic identification method and an interactive robot. This method allows us to determine several important properties including a) joint impedance in the direction of the joint principal axes, b) the spatial joint impedance structure, and c) the passivity properties of the joint. The method is applicable to studies of multivariable mechanical joint impedance, both for… CONTINUE READING