Impedance characteristic of the human arm during passive movements

This paper describes the impedance characteristics of human arm during passive movement. The was moved in desired trajectory. motion actuated by a 1-degree-of-freedom robot system. Trajectories used experiment were minimum jerk (the rate change acceleration) trajectories, which found and cooperative task optimum for muscle As is mechanically analogous to spring-damper system, second-order equation considered as model dynamics. In model, inertia, stiffness, damping factor considered. parameters estimated from position torque data obtained based on “Estimation Parametric Model”. It that inertia almost constant over operational time. stiffness high at starting became near zero after 0.4 seconds.