Mechanical Impedance Modeling of Human Arm: A survey

[摘要] Human arm mechanical impedance plays a vital role in describing motion ability of the upper limb. One of the impedance parameters is stiffness which is defined as the ratio of an applied force to the measured deformation of the muscle. The arm mechanical impedance modeling is useful in order to develop a better controller for system that interacts with human as such an automated robot-assisted platform for automated rehabilitation training. The aim of the survey is to summarize the existing mechanical impedance models of human upper limb so to justify the need to have an improved version of the arm model in order to facilitate the development of better controller of such systems with ever increase in complexity. In particular, the paper will address the following issue: Human motor control and motor learning, constant and variable impedance models, methods for measuring mechanical impedance and mechanical impedance modeling techniques.

[发布机构] Department of Mechatronics Engineering, International Islamic University Malaysia, Kuala Lumpur, Malaysia^1

[效力级别] 无线电电子学 [学科分类] 航空航天科学

[关键词] Applied forces;Human motor control;Impedance parameters;Mechanical impedances;Motor learning;Rehabilitation training;Upper limbs;Variable impedance models