Identifying inverse human arm dynamics using a robotic testbed

Eric M. Schearer, Yu Wei Liao, Eric Perreault, Matthew C Tresch, William D. Memberg, Robert F. Kirsch, Kevin M Lynch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

We present a method to experimentally identify the inverse dynamics of a human arm. We drive a person's hand with a robot along smooth reaching trajectories while measuring the motion of the shoulder and elbow joints and the force required to move the hand. We fit a model that predicts the shoulder and elbow joint torques required to achieve a desired arm motion. This torque can be supplied by functional electrical stimulation of muscles to control the arm of a person paralyzed by spinal cord injury. Errors in predictions of the joint torques for a subject without spinal cord injury were less than 20% of the maximum torques observed in the identification experiments. In most cases a semiparametric Gaussian process model predicted joint torques with equal or less error than a nonparametric Gaussian process model or a parametric model.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3585-3591
Number of pages7
ISBN (Electronic)9781479969340
DOIs
StatePublished - Jan 1 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Schearer, E. M., Liao, Y. W., Perreault, E., Tresch, M. C., Memberg, W. D., Kirsch, R. F., & Lynch, K. M. (2014). Identifying inverse human arm dynamics using a robotic testbed. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3585-3591). [6943064] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943064