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We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the...
The segment parameters (SP) consisting of inertia and position of the center of mass of each segment, of the human body are crucial data when one wants investigate motion dynamics. The segment parameters vary with time according to immobilization, physical training, rehabilitation, muscular diseases. This knowledge provides valuable information to support medical diagnosis and to quantify the effect...
The present paper discusses how human adjusts the mechanical impedance of upper limb in order to perform the reaching task under unstable environments. We identify both the arm stiffness and inertia during horizontal movements using the direct drive manipulator. It is then shown that the stiffness and inertia of the upper limb are cooperatively adjusted such that the dynamic range is kept higher in...
A 3-D finite-element model of a dry human tibia has been developed to predict its natural frequencies of vibration. Analytical results were compared with experimental results obtained with a dual spectrum analyzer. The influence of boundary conditions and geometric properties such as inertia and length are eliminated by the finite-element model. The difference between the theoretical and experimental...
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