Design of a Human Arm-Like Robot Based on Viscoelasticity of Human Multi-Joint Arm
نویسندگان
چکیده
Knowledge of the human multi-joint arm viscoelastic properties is essential in the assistance of building human-like robots. In this paper, a robust estimation method of human multi-joint arm viscoelasticity during natural movement is reviewed, a human arm-like robot control scheme using the measured viscoelasticity from estimation method is proposed. In order to imitate how to adjust the human multi-joint arm viscoelasticity by central nervous system (CNS) according to external environment, a forward gaze model is used. The effectiveness of the proposed method is confirmed through simulation results based on experimental data from the real time estimation of viscoelasticity.
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