TY - GEN
T1 - Modeling of artificial neural network for the prediction of the multi-joint stiffness in dynamic condition
AU - Kang, Byungduk
AU - Kim, Byungchan
AU - Park, Shinsuk
AU - Kim, Hyunkyu
PY - 2007
Y1 - 2007
N2 - Unlike robotic systems, humans excel in various tasks by taking advantage of their intrinsic compliance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human's superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electro-myogram (EMG) signals and limb position measurements. An artificial neural network (ANN) model was developed to relate the EMG and joint motion to joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. Experimental and simulation results confirmed the feasibility of the developed ANN model.
AB - Unlike robotic systems, humans excel in various tasks by taking advantage of their intrinsic compliance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human's superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electro-myogram (EMG) signals and limb position measurements. An artificial neural network (ANN) model was developed to relate the EMG and joint motion to joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. Experimental and simulation results confirmed the feasibility of the developed ANN model.
UR - http://www.scopus.com/inward/record.url?scp=51349168588&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349168588&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399539
DO - 10.1109/IROS.2007.4399539
M3 - Conference contribution
AN - SCOPUS:51349168588
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1840
EP - 1845
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -