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Estimating Human Wrist Stiffness during a Tooling Task.

Gia-Hoang Phan1, Clint Hansen2, Paolo Tommasino1

  • 1Robotics Research Center, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.

Sensors (Basel, Switzerland)
|June 12, 2020
PubMed
Summary
This summary is machine-generated.

This study presents a method to estimate human joint stiffness during tooling tasks, enabling robot skill transfer. The approach uses natural task variability to measure (neuro-)mechanical impedance, correlating stiffness with muscle activity.

Keywords:
human joint stiffnessinstrumented tooltool-workpiece interaction

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Biomechanics

Background:

  • Programming industrial robots often requires complex motion planning.
  • Transferring human expertise to robots can significantly improve efficiency and task quality.
  • Estimating human physical properties like joint stiffness is crucial for intuitive robot programming by demonstration.

Purpose of the Study:

  • To develop and validate a practical method for estimating human joint stiffness during tooling tasks.
  • To enable the transfer of human operator skills to industrial robots through impedance estimation.
  • To investigate the relationship between estimated joint stiffness and muscular activity in human operators.

Main Methods:

  • Instrumented a hand-held abrasive tool with force/torque and motion capture sensors.
  • Utilized stochastic methods and natural task variability for (neuro-)mechanical impedance estimation.
  • Validated the apparatus and algorithms on an impedance-controlled robot before applying to human operators.

Main Results:

  • Accurate estimation of pre-programmed impedance on an industrial robot.
  • Successful application of the method to human operators performing a polishing task.
  • Positive correlation found between estimated human joint stiffness and measured muscular activity.

Conclusions:

  • The proposed method provides a practical approach to estimate human joint stiffness during tooling tasks.
  • This estimation facilitates skill transfer from human operators to industrial robots.
  • The findings suggest that joint stiffness is related to muscular effort during such tasks.