Abstract
It is important to clarify how the stiffness and the torque of human arm are controlled in the interaction with the environment. So far, the stiffness of human arm has been measured by adding perturbation. But, it is difficult to measure the stiffness in isotonic movements with various loads, because the perturbation provides the unexpected stiffness increase by antagonistic muscles. In this paper, the musculoskeletal model with six muscles is used to estimate the joint torque in crank rotation tasks. The muscular excitation for random disturbance is evaluated.
