00527nas a2200121   4500008004100000245009400041210006900135100001300204700001700217700001500234700002300249856013300272       2019                        eng d00aA real-time identification and tracking method for the musculoskeletal model of human arm0 arealtime identification and tracking method for the musculoskele1 aFang, C.1 aAjoudani, A.1 aBicchi, A.1 aTsagarakis, N., G.  uhttp://www.centropiaggio.unipi.it/publications/real-time-identification-and-tracking-method-musculoskeletal-model-human-arm.html00538nas a2200145   4500008004100000245012800041210006900169260001200238490000700250100001700257700001300274700002300287700001500310856006700325       2017                        eng d00aReduced-Complexity Representation of the Human Arm Active Endpoint Stiffness for Supervisory Control of Remote Manipulation0 aReducedComplexity Representation of the Human Arm Active Endpoin  c11/20170 v371 aAjoudani, A.1 aFang, C.1 aTsagarakis, N., G.1 aBicchi, A.  uhttps://journals.sagepub.com/doi/full/10.1177/027836491774403502477nas a2200181   4500008004500000245010600045210006900151260004900220300001600269520185200285653001202137653001302149100001702162700001302179700002002192700001502212856006802227       2015                        engldsh  00aA Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control0 aReducedComplexity Description of Arm Endpoint Stiffness with App  aHamburg, Germany, 28 Sept - 2 Oct 2015bIEEE  a1017 - 10233 a<p style="text-align: justify;"><span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 13.3333px;">Effective and stable execution of a remote task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This highlights the need for a suitable and computationally efficient tracking of the human limb stiffness profile in real-time. In this direction, based on the observations in human neuromotor control which give evidence on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the role of muscular co-activations which contribute to a coordinated stiffening of the task stiffness in all directions, we propose a novel and computationally efficient model of the arm endpoint stiffness behaviour. With the purpose of real-time tracking of the human arm kinematics, an arm triangle is introduced using three body markers at the shoulder, elbow and wrist joints. In addition, a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and co-contraction levels of the chosen muscles. Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-ativation of the involved muscles, respectively.</span></p>
10aHaptics10aRobotics1 aAjoudani, A.1 aFang, C.1 aTsagarakis, N G1 aBicchi, A.  uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7353495