Characteristics Of Human Arm Based On Musculoskeletal Model In Human-Human Cooperative Task

Human characteristics are supposed to be applied to the control systems of the human-friendly robots. Therefore, it is important to know the human characteristics in human-robot cooperative tasks. In this study, we considered a single rotational degree of freedom experimental system as well as a mass-spring-damper-friction dynamic model for the human arm and analyzed the master-slave and the master-semi master cooperative motions. Through the master-slave cooperative motion, we verified the application of the mass-spring-friction dynamic model of the slave's arm, and regarding its parameter we found the damping factor as zero and the stiffness as well as the coulomb friction torque almost individually invariable. Through the master-semi master cooperative motion, we got the torque characteristics and drew a comparison of them with those in the master-slave cooperative motion, and then we found improved torque characteristics, the constant torque characteristics.