Online Estimation of 2D Human Arm Stiffness for Peg-in-Hole Tasks with Variable Impedance Control
Huayang Wu,Hanwen Yang,Yanan Li,Huayang Wu,Hanwen Yang,Yanan Li
This paper proposes an online estimation model for 2D arm stiffness in humans. The proposed model is based on recent physiological findings which suggest that: (1) joint stiffness is linearly related to the magnitude of joint torque and increases to compensate for environmental disturbances; and (2) the endpoint stiffness of the arm is proportional to grasp force. To validate the proposed model, p...
