Skip to Main content Skip to Navigation
Conference papers

A Framework of Human Impedance recognition

Abstract : A framework for estimating the human impedance is proposed in this paper. In physical human-robot interaction (pHRI), safety and human acceptance are key issues when humans directly interact with the robots. In order to guarantee the safety and improve performance in pHRI, it is important to estimate the dynamics and intention of the human hand. In this work, we consider that a human subject physically contacts with a force sensor when a haptic device sets force in the proposed framework. The measured force, the surface electromyographic signal and the motion of the hand are used to estimate the parameters of human forearm’s impedance. The effectiveness of the proposed framework is demonstrated by experimental results.
Document type :
Conference papers
Complete list of metadata

Cited literature [24 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-02315606
Contributor : Chao Liu Connect in order to contact the contributor
Submitted on : Monday, October 14, 2019 - 3:48:15 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM

File

85340.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Jing Luo, Chao Liu, Yanan Li, Chenguang Yang. A Framework of Human Impedance recognition. ICAC 2019 - 25th International Conference on Automation and Computing, Sep 2019, Lancaster, United Kingdom. pp.1-6, ⟨10.23919/IConAC.2019.8895250⟩. ⟨lirmm-02315606⟩

Share

Metrics

Record views

146

Files downloads

97