Abstract
Due to the increasing working age, in the last years more and more attention is turned to exoskeleton for industrial applications. Exoskeletons reduce fatigue and the effort that would cause injuries on the operator. Exoskeletons designed for industrial applications are mostly finalized to relieve the operator from a heavy load. However in industrial practice, worker fatigue is not only due to heavy load carrying, but also to the increase of the arm stiffening requested by some operations, like drilling, screwing or precision operations. This paper represents the first step for a new approach of exoskeleton stiffness control, whose input is given in real time directly by electromyographic signal from muscles. In this paper we attempt to study the stiffness of the elbow on which two muscles act as agonist-antagonist. The model used for the muscles is the one proposed by Hill.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
van der Vorm, J., Nugent, R., O’Sullivan, L.: Safety and risk management in designing for the lifecycle of an exoskeleton: a novel process developed in the robo-mate project. Procedia Manuf. 3, 1410–1417 (2015)
Sylla, N., Bonnet, V., Colledani, F., Fraisse, P.: Ergonomic contribution of ABLE exoskeleton in automotive industry. Int. J. Ind. Ergon. 44(4), 475–481 (2014)
Hogan, N.: Adaptive control of mechanical impedance by coactivation of antagonist muscles. IEEE Trans. Autom. Control 29, 681–690 (1984)
Mussa-Ivaldi, F., Hogan, N., Bizzi, E.: Neural, mechanical, and geometric factors subserving arm posture in humans. J. Neurosci. 5, 2732–2743 (1985)
Ajoudani, A., Tsagarakis, N., Bicchi, A.: Tele-impedance: teleoperation with impedance regulation using a body-machine interface. Int. J. Ind., Ergon (2012)
Karavas, N., Ajoudani, A.: Tele-impedance based stiffness and motion augmentation for a knee exoskeleton device. In: Proceedings International Conference on ICRA. IEEE (2013)
Marieb, E.N., Hoehn, K.: Human Anatomy & Physiology. Pearson Benjamin Cummings, San Francisco (2007)
Buhrmann, T., Di Paolo, E.A.: Spinal circuits can accommodate interaction torques during multijoint limb movements. Front. Comput. Neurosci. 8, 144 (2014)
Hill, A.V.: The mechanics of active muscle. Proc. R. Soc. B Biol. Sci. 141(902), 104–117 (1953)
Kistemaker, D.A., Wong, J.D., Gribble, P.L.: The central nervous system does not minimize energy cost in arm movements. J. Neurophysiol. 104(6), 2985–2994 (2010)
Osu, R., Gomi, H.: Multijoint muscle regulation mechanisms examined by measured human arm stiffness and EMG signals. J. Neurophysiol. 81, 1458–1468 (1999)
Hu, X., Murray, W., Perreault, E.: Muscle short-range stiffness can be used to estimate the endpoint stiffness of the human arm. J. Neurophysiol. 105, 1633–1641 (2011)
Iannotti, J.P., Parker, R.D.: The Netter Collections of Medical Illustrations: Musculoskeletal System, part I - Upper Limb, vol. 6, 2nd edn. Saunders, Philadelphia (2013)
Lichtwark, G., Watson, J.: Intensity of activation and timing of deactivation modulate elastic energy storage and release in a pennate muscle and account for gait-specific initiation of limb. J. Neurophysiol. 212, 2454–2463 (2009)
Inouye, J.M., Valero-Cuevas, F.J.: Muscle synergies heavily influence the neural control of arm endpoint stiffness and energy consumption. PLoS Comput. Biol. 12(2), e1004737 (2016)
Belforte, G., Gastaldi, L., Sorli, M.: Active orthosis for rehabilitation and passive exercise. In: Proceedings of the IV International Conference on Simulations in Biomedicine, BIOMED, pp. 199–208 (1997)
Galetto, M., Gastaldi, L., Lisco, G., Mastrogiacomo, L., Pastorelli, S.: Accuracy evaluation of a new stereophotogrammetry-based functional method for joint kinematic analysis in biomechanics. Proc. Inst. Mech. Eng. Part H J. Eng. Med. 228(11), 1183–1192 (2014)
Takeda, R., Lisco, G., Fujisawa, T., Gastaldi, L., Tohyama, H., Tadano, S.: Drift removal for improving the accuracy of gait parameters using wearable sensor systems. Sensors 14, 23230–23247 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Borzelli, D., Pastorelli, S., Gastaldi, L. (2017). Model of the Human Arm Stiffness Exerted by Two Antagoniste Muscles. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_31
Download citation
DOI: https://doi.org/10.1007/978-3-319-49058-8_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-49057-1
Online ISBN: 978-3-319-49058-8
eBook Packages: EngineeringEngineering (R0)