Mapping of human arm impedance characteristics in spatial movements /
Human arm movement is an emerging field to discover how actually human arm works. In such research dynamic impedance characteristics are mapped against time to have a picture of dynamics of arm movement in space. The impedance characteristics are then used for designing robotic arm exoskeleton for r...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur :
Kulliyyah of Engineering, International Islamic University Malaysia,
2015
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| Subjects: | |
| Online Access: | Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. |
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| Summary: | Human arm movement is an emerging field to discover how actually human arm works. In such research dynamic impedance characteristics are mapped against time to have a picture of dynamics of arm movement in space. The impedance characteristics are then used for designing robotic arm exoskeleton for rehabilitation. Some researchers conduct their researches on arm muscles directly while others are comparing human arm with a physical system and set up a model based on that system. Based on this physical modeling researchers in this field have conducted several experiment on various criteria, like experimental set-up, tasks, degree of freedom of the arm movement and so on. In these studies mostly impedance characteristics are determined either for discrete movement or for particular position or moment of a movement. There are very few works that show the dynamic change of impedance characteristics for spatial movements. Such study will enable us to know how impedance characteristics of human arm changes during the complete cycle of specific task. In this research impedance characteristics of human arm considering 3D spatial movement for horizontal adduction and abduction have been determined experimentally. Physical system of the human arm is considered as mass-spring-damper system and the modeling is done accordingly. The model is solved for 3DoF spatial movement usually used for daily work. The impedance characteristics considered in the model are inertia, stiffness and damping factor. Using position measuring device, position data of elbow and wrist were obtained with respect to pre-defined references. The data were used to calculate velocity, acceleration and force. Then inertia, stiffness and damping factor were calculated solving the equation of motion of the mass-spring-damper system corresponding to different position of the wrist on the trajectory. These impedance factors were then plotted to map the characteristics. Six participants were chosen for the experiment. Among the participants, four were female and two were male. Although different participants have different positional profile however, impedance plotting shown similar trend. The mappings were done for both total duration to complete task and for segments of the task. On the basis of this research it can be concluded that impedance characteristics changes according to the movement of the arm. Significant changes of damping factor and stiffness were found to occur at the beginning and end of the arm movement. However, not much change was noticed for inertia of the arm. Here the magnitude is varying due to biological factor. Outcome of the present research may help enrich Robotics and Mechatronics discipline to make robot that may be attached with the human limb physically for the purpose of the rehabilitation or enhancement of human capability without causing discomfort to the user. The present research is conducted on a specific task of carrying load from one point to another point, further research with change of trajectory as well as task is recommended for improved design of human arm exoskeleton. |
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| Physical Description: | xiv, 86 leaves : ill. ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 76-80) |