Identifying Inverse Human Arm Dynamics Using a Robotic Testbed
| Title: | Identifying Inverse Human Arm Dynamics Using a Robotic Testbed |
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| Publication Type: | Conference Paper |
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| Year of Publication: | 2014 |
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| Authors: | E. M. Schearer, Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch |
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| Conference Name: | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) |
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| Abstract: | We present a method to experimentally identify the inverse dynamics of a human arm. We drive a person s hand with a robot along smooth reaching trajectories while measuring the motion of the shoulder and elbow joints and the force required to move the hand. We fit a model that predicts the shoulder and elbow joint torques required to achieve a desired arm motion. This torque can be supplied by functional electrical stimulation of muscles to control the arm of a person paralyzed by spinal cord injury. Errors in predictions of the joint torques for a subject without spinal cord injury were less than 20\% of the maximum torques observed in the identification experiments. In most cases a semiparametric Gaussian process model predicted joint torques with equal or less error than a nonparametric Gaussian process model or a parametric model. |
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PDF:
Schearer_iros2014.pdf
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