Peg-in-Hole作業中の手関節インピーダンス推定

抄録

In this study, we estimate the time-varying wrist impedance during peg-in-hole task. We employ a wearable device called snap motor in order to impose a perturbation on the wrist joint. The induced dynamic response can be considered as the impulse response, based on which the impedance estimation is carried out. The peg-in-hole task is a cyclic task and its one cycle can be divided into 5 sub-phases. We conduct the experiment to estimate the joint impedance at each phase. The obtained results, especially in the time-varying stiffness, show a certain relevance with the muscular activity and movement observed in the peg-in-hole task.