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Adaptive Human Control Gains During Precision Grip : Controllo adattativo per presa accurata, in: International Journal of Advanced Robotic Systems
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Author Engeberg, Erik D.
Published  InTech Open Access Publisher, 2013
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Abstract Eight human test subjects attempted to track a
desired position trajectory with an instrumented
manipulandum (MN). The test subjects used the MN with
three different levels of stiffness. A transfer function was
developed to represent the human application of a
precision grip from the data when the test subjects
initially displaced the MN so as to learn the position
mapping from the MN onto the display. Another transfer
function was formed from the data of the remainder of
the experiments, after significant displacement of the MN
occurred. Both of these transfer functions accurately
modelled the system dynamics for a portion of the
experiments, but neither was accurate for the duration of
the experiments because the human grip dynamics
changed while learning the position mapping. Thus, an
adaptive system model was developed to describe the
learning process of the human test subjects as they
displaced the MN in order to gain knowledge of the
position mapping. The adaptive system model was
subsequently validated following comparison with the
human test subject data. An examination of the average
absolute error between the position predicted by the
adaptive model and the actual experimental data yielded
an overall average error of 0.34mm for all three levels of
stiffness.
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no fulltext found International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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Documents: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=31934009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31934009.html
PDF FaviconPDF  Adaptive Human Control Gains During Precision Grip
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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