Estimating human wrist stiffness during a tooling task

• Main Authors: Phan, Gia-Hoang, Hansen, Clint, Tommasino, Paolo, Budhota, Aamani, Mohan, Dhanya Menoth, Hussain, Asif, Burdet, Etienne, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Instrumented Tool; Tool-workpiece Interaction
• Online Access: https://hdl.handle.net/10356/145685
• Institution: Nanyang Technological University

In this work, we propose a practical approach to estimate human joint stiffness during tooling tasks for the purpose of programming a robot by demonstration. More specifically, we estimate the stiffness along the wrist radial-ulnar deviation while a human operator performs flexion-extension movement...