Identifying Inverse Human Arm Dynamics Using a Robotic Testbed
| Title: | Identifying Inverse Human Arm Dynamics Using a Robotic Testbed |
|---|---|
| Publication Type: | Conference Paper |
| Year of Publication: | 2014 |
| Authors: | E. M.Schearer, Y. W.Liao, E.Perreault, M.Tresch, W.Memberg, R.Kirsch, and K. M.Lynch |
| Conference Name: | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) |
| Google Scholar: | Access article in Google Scholar |
| 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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