Masters Theses

Keywords and Phrases

Arm Stiffness; physical Human robot interaction

Abstract

"To build a physically interactive robot for overground applications, it is crucial to first understand the biomechanics of humans underlying overground physical human-robot interaction (pHRI) tasks. Estimating human arm stiffness during overground interactive tasks is a promising first step toward this goal. For this, an arm stiffness estimation technique was developed in our previous works that consider the unique challenges involving overground pHRI, such as the need to estimate the arm stiffness from a short duration of data with fewer repetitions. In this work, our stiffness estimation method is further validated with a passive spring setup with known stiffness values, as well as with a human experiment setup that resembles the widely used seated reaching tasks. Results show that our method can estimate the passive spring stiffness within 0.5% of error. We were also able to verify our stiffness values with that of well-known literature, and our method of measurement was able to distinguish between static and dynamic conditions. Also detailed analysis was presented on data extraction from previous art for making meaningful comparisons. To know the learning effect, among our subjects over the series of trials we present a detailed analysis of the stiffness data to see if it was significant. Further to demonstrate a possible experimental condition with the Ophrie robot, we present a Force -Velocity and Force-Acceleration relationship that can be used to determine the roles of dyads in a pHRI protocol" -- Abstract, p. iv

Advisor(s)

Song, Yun Seong

Committee Member(s)

Burns, Devin Michael
Krishnamurthy, K.

Department(s)

Mechanical and Aerospace Engineering

Degree Name

M.S. in Mechanical Engineering

Publisher

Missouri University of Science and Technology

Publication Date

Summer 2024

Pagination

xi, 50 pages

Note about bibliography

Includes_bibliographical_references_(pages 17 & 48-49)

Rights

©2024 Tarani Kanth Kamma , All Rights Reserved

Document Type

Thesis - Open Access

File Type

text

Language

English

Thesis Number

T 12389

Download

Share

 
COinS