TY - GEN
T1 - Human interaction with passive assistive robots
AU - Pan, Peng
AU - Lynch, Kevin M.
AU - Peshkin, Michael A.
AU - Colgate, J. Edward
PY - 2005
Y1 - 2005
N2 - We are studying the use of programmable constraint machines for rehabilitation and as assistive devices in materials handling. In this paper we describe initial experiments in human interaction with a two-joint passive programmable constraint device, or cobot. The user grasps the manipulandum at a handle, and the manipulandum implements a smooth, hard, low friction constraint curve. Initial experiments in reaching tasks subject to such a constraint show that subjects apply significant forces against the constraint, in a manner dependent on the movement speed and constraint shape. These forces can be broken into passive forces (due simply to the dynamics of the human arm) and forces actively generated by the muscles. Some motor adaptation is also evident.
AB - We are studying the use of programmable constraint machines for rehabilitation and as assistive devices in materials handling. In this paper we describe initial experiments in human interaction with a two-joint passive programmable constraint device, or cobot. The user grasps the manipulandum at a handle, and the manipulandum implements a smooth, hard, low friction constraint curve. Initial experiments in reaching tasks subject to such a constraint show that subjects apply significant forces against the constraint, in a manner dependent on the movement speed and constraint shape. These forces can be broken into passive forces (due simply to the dynamics of the human arm) and forces actively generated by the muscles. Some motor adaptation is also evident.
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U2 - 10.1109/ICORR.2005.1501098
DO - 10.1109/ICORR.2005.1501098
M3 - Conference contribution
AN - SCOPUS:33745770224
SN - 0780390032
SN - 9780780390034
T3 - Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
SP - 264
EP - 268
BT - Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
T2 - 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Y2 - 28 June 2005 through 1 July 2005
ER -