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Author

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

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Stochastic estimation of human arm impedance using robots with nonlinear frictions: an experimental validation

Cited 10 times inthomson ciCited 9 times inthomson ci
Title
Stochastic estimation of human arm impedance using robots with nonlinear frictions: an experimental validation
Author
Chang, Pyung HunPark, KyungbinKang, Sang HoonKrebs, Hermano IgoHogan, Neville
Keywords
Arm impedance measurement; friction; impedance control; stochastic estimation
Issue Date
201304
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.18, no.2, pp.774 - 786
Abstract
Inspired by previous research on the promising internal model-based impedance control (IMBIC) scheme, it was implemented and experiments were undertaken to determine the stochastic estimation of human arm impedance. A 2-DOF selective compliant assembly robot arm (SCARA) robot with significant nonlinear frictions was used in the experiments in order to test the accuracy and reliability of the estimation under nonlinear frictions, with the IMBIC and with a proportional derivative (PD) control, respectively. After the stochastic estimation method with the SCARA robot and the IMBIC was validated using a spring array, the method was applied to the estimation of human arm impedance. The experimental results demonstrated that the stochastic estimation using the IMBIC yields accurate and reliable estimations even under substantial frictions: the multiple coherence functions exceeded 0.95 throughout the frequency range investigated and the estimated magnitudes and phases matched well with a second-order best-fit model. Furthermore, the best-fit model demonstrated reasonable agreement with the results of previous research. The stochastic estimation using the IMBIC has also demonstrated effectiveness in the estimation of human arm impedance using conventional robots.
URI
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DOI
http://dx.doi.org/10.1109/TMECH.2012.2184767
ISSN
1083-4435
Appears in Collections:
DHE_Journal Papers

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