Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator

Humans vary the stiffness in their joints depending on tasks and circumstances. For posture control a high joint stiffness is required to withstand perturbations, whereas for force control a low joint stiffness is required. To investigate how humans vary their joint stiffness precisely for moving an arm, a wearable device is needed that can...

Quantitative comparison of time-varying system identification methods to describe human joint impedance

Accurate and swift tuning of joint impedance is crucial to perform movement and interaction with our environment. Time-varying system identification enables quantification of joint impedance during movement. Many methods have been developed over the years, each with their own mathematical approach and underlying assumptions. Yet, for the...

Nonparametric identification of time-varying human joint admittance

In this study, a nonparametric method, developed in Lataire et al. (2012), is applied to the identification of linear time-varying human joint admittance. The aim of the method, denoted Skirt Decomposition method, is to reconstruct the time-varying system function. The main contribution of the paper is to evaluate the possibilities and...

Revealing time-varying joint impedance with kernel-based regression and nonparametric decomposition

During movements, humans continuously regulate their joint impedance to minimize control effort and optimize performance. Joint impedance describes the relationship between a joint's position and torque acting around the joint. Joint impedance varies with joint angle and muscle activation and differs from trial-to-trial due to inherent...