2023
Online Estimation of 2D Human Arm Stiffness for Peg-in-Hole Tasks with Variable Impedance Control
IROS 2023poster
This paper proposes an online estimation model for 2D arm stiffness in humans. The proposed model is based on recent physiological findings which suggest that: (1) joint stiffness is linearly related to the magnitude of joint torque and increases to compensate for environmental disturbances; and (2)…