Masters Theses

Keywords and Phrases

Arm Impedance; Biomechanics; Haptic Communication; Physical Interaction

Abstract

The vision of advancing robots capable of direct physical engagement with humans begins with an understanding of how humans interact with each other. Even rudimentary interactive tasks, such as shaking hands, provides tremendous challenges for modern robotics and current research into the biomechanics of such interactions is limited. Thus, further analysis of physical Human-Human Interaction (pHHI) will bolster efforts to enhance collaborative robot capabilities. To this end, a custom Force Perturbation Handle (FPH) was developed, including the requisite mechanical, electrical, and software systems, to investigate the unique role of arm stiffness modulation in haptic communication between humans. The novel device records force and torque values generated by an interacting dyad and administers controlled force perturbations for estimating arm impedance metrics while maintaining a compact configuration that facilitates natural manipulation during pHHI tasks. To evaluate the capabilities of the FPH, a pilot experiment was conducted where subjects were instructed to exhibit specified levels of arm stiffness to which the calculated values from the FPH were compared. The results from four unbalanced two-way ANOVA analyses indicated a strong correspondence between the subjects’ stiffness instruction and the estimated values from the FPH. The data was further validated through a qualitative analysis of arm displacement and actuation length. Considerations were addressed for deploying the FPH in future dynamic pHHI tasks to acquire valuable insight into motor communication strategies between humans and its applications for future interactive robotics.

Advisor(s)

Song, Yun Seong

Committee Member(s)

Stutts, Daniel S.
Burns, Devin Michael

Department(s)

Mechanical and Aerospace Engineering

Degree Name

M.S. in Mechanical Engineering

Publisher

Missouri University of Science and Technology

Publication Date

Summer 2025

Journal article titles appearing in thesis/dissertation

Paper I: Pages 11-45 is in the process of submission to PLOS One Journal.

Pagination

ix, 67 pages

Note about bibliography

Includes_bibliographical_references_(pages 63-66)

Rights

© 2025 Henry Tien , All Rights Reserved

Document Type

Thesis - Open Access

File Type

text

Language

English

Thesis Number

T 12525

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