Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm
Fatemeh Zahedi Hyunglae Lee Fatemeh Zahedi Hyunglae Lee
This paper presents an experimental study that investigated how humans interact with viscous, damping-defined mechanical environments and quantified the lower bounds of robotic damping that they can stably interact with. Human subjects performed posture maintenance tasks for different arm postures while holding a robotic arm manipulator simulating unstable (negative) damping-defined environments a...