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Human hand impedance characteristics during maintained posture

T Tsuji1, P G Morasso, K Goto

  • 1Faculty of Engineering, Hiroshima University, Japan.

Biological Cybernetics
|January 1, 1995
PubMed
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This study quantifies human hand impedance, including inertia, viscosity, and stiffness, during arm movements. Findings reveal how grip force influences these properties and validate a new estimation method.

Area of Science:

  • Biomechanics
  • Human Motor Control
  • Robotics

Background:

  • Understanding human hand impedance is crucial for developing advanced prosthetics and human-robot interaction.
  • Previous models often simplify the complex, multi-joint dynamics of the human arm and hand.

Purpose of the Study:

  • To investigate and quantify human hand impedance characteristics (inertia, viscosity, stiffness) during multi-joint arm movements.
  • To validate a novel method for estimating hand impedance using a second-order linear model.
  • To explore the relationship between grip force and hand impedance parameters.

Main Methods:

  • Subjects performed multi-joint arm movements while maintaining a fixed hand location.
  • Small external disturbances were applied to the hand via a manipulandum.

Related Experiment Videos

  • Force-displacement data were sampled to estimate impedance using a second-order linear model.
  • The method's accuracy was confirmed using a known mechanical spring-mass system.

    • Main Results:

    • Estimated inertia matrices aligned with computational models of a two-joint arm.
    • Spatial variations in stiffness ellipses matched prior experimental findings.
    • Hand stiffness and viscosity increased proportionally with grip force.
    • Viscosity and stiffness ellipses exhibited similar orientation patterns.

    Conclusions:

    • The developed method accurately estimates human hand impedance.
    • Grip force significantly modulates hand stiffness and viscosity.
    • The findings provide valuable data for biomechanical modeling and robotic applications involving human-hand interaction.