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- Kang, Sang Hoon
- Robotics and Rehabilitation Engineering Lab.
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A robot for impedance estimation of human upper limb
- Author(s)
- Kang, Hyunah, Kang, Sang Hoon
- Issued Date
- 2018-10-17
- Citation
- 2018 18th International Conference on Control, Automation and Systems (ICCAS)
- Abstract
- The estimation of the 3-dimensional (3-D) human upper limb mechanical impedance transfer function matrix (MITFM) is important to complement the diagnosis of altered mechanical resistance of stroke survivors. There is no robot that is the right size to deliver the small perturbations safely with simple operation of clinicians. Thus, with 5 design criteria (low energy consumption, low joint friction, high manipulability, light weight, and high rigidity), a robot that can estimate the arm impedance stochastically in clinical settings was developed and experimentally verified its accuracy and reliability.
- Publisher
- Institute of Control, Robotics and Systems
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