Impedance characteristic of human arm for cooperative robot

摘要

Control systems for cooperative robots should be designed to work imitating human characteristics. In this study, we tried to investigate the impedance characteristic of human arm in a cooperative task. Human arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. Trajectories used in the experiment were minimum jerk (the rate of change of acceleration) trajectories, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameter was estimated from the position and torque data obtained from the experiment and based on the Estimation of Parametric Model. It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high at the starting position and became near to zero after 0.4 second. The EMG (electromyography) response of elbow muscles during the movements was also examined.