Tsuji T, Morasso P G, Goto K, Ito K
Faculty of Engineering, Hiroshima University, Japan.
Biol Cybern. 1995;72(6):475-85. doi: 10.1007/BF00199890.
The present paper examines human hand impedance characteristics, including inertia and viscosity as well as stiffness, in multi-joint arm movements. While a subject maintains a given hand location, small external disturbances are applied to his hand by a manipulandum. The corresponding force-displacement vectors are measured and sampled over time in order to estimate the hand impedance by means of a second-order linear model. The experimental results in different subjects and hand locations are summarized as follows: (1) the estimated inertia matrices of the human hand well agrees with computed values using a two-joint arm model, (2) spatial variations of the stiffness ellipses are consistent with the experimental results of Mussa-Ivaldi et al. (1985), (3) hand stiffness and viscosity increase with the grip force of the subject, and (4) viscosity and stiffness ellipses tend to have similar orientation. The accuracy of the impedance estimation method is validated with a mechanical spring-mass system with known parameters.
本文研究了多关节手臂运动中人体手部的阻抗特性，包括惯性、粘性以及刚度。当受试者保持手部处于给定位置时，一个操作器会对手部施加小的外部干扰。测量并随时间采样相应的力 - 位移向量，以便通过二阶线性模型估计手部阻抗。不同受试者和手部位置的实验结果总结如下：（1）人体手部的估计惯性矩阵与使用双关节手臂模型计算的值非常吻合；（2）刚度椭圆的空间变化与穆萨 - 伊瓦尔迪等人（1985年）的实验结果一致；（3）手部刚度和粘性随受试者握力增加；（4）粘性和刚度椭圆往往具有相似的方向。通过具有已知参数的机械弹簧 - 质量系统验证了阻抗估计方法的准确性。
