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Rehabilitation robots may be used to accurately measure the mechanical impedance of the human arm in order to quantitatively assess the motor function of a patient undergoing neurorehabilitation therapy. However, the high cost of these robotic systems and their required sensors has posed a barrier to widespread clinical use. We present a technique to measure the mechanical impedance of the human arm...
Conventional approaches for stability analysis of bilateral teleoperation systems assume that the human operator does not inject energy into the system and behaves in a passive manner. Does this assumption hold for various tasks the human operator may execute in a teleoperation context? To answer this question, in this paper we measure the endpoint impedance (inertia, viscosity, and stiffness) of...
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