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Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/870

Title: ヒトの筋の粘弾性変化の推定 : モデルによるシミュレーション
Other Titles: ヒト ノ キン ノ ネンダンセイ ヘンカ ノ スイテイ : モデル ニヨル シミュレーション
On the variation of Visco-Elasticity of the Human Muscle : Analysis by Model Simulation
Authors: 加藤, 厚生
伊藤, 晋彦
KATO, Atsuo
ITO, Kunihiko
Issue Date: 31-Mar-1991
Publisher: 愛知工業大学
Abstract: One approach to realize a compliant manipulation robot is a impedance control. In the impedance control a damping and an elasticity coefficients of the robot joints are selected as a desired value. Incidentally, human arm seems to achieve compliant motion by continuous regulation of the muscle viscos frictional coefficient and elasticity coefficient. To estimate the visco-elasticity change of the muscle, we carried out some tracking experiments on the human wrist joint and some simulations for neuro-muscular system model with elastic environment. Then we came to a conclution that the muscle visco-elasticity increases with the muscle activity. We think that the dynamics of the compliant manipulation robot must be controlled by the regulation of their joint visco-elasticity continuously.
URI: http://hdl.handle.net/11133/870
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