Akademik Veri Yönetim Sistemi
21st National Biomedical Engineering Meeting (BIYOMUT), İstanbul, Türkiye, 24 Kasım - 26 Aralık 2017
The modeling of the dynamic behavior of the human arm is an important issue in robotics, biomedical and medical fields. In this study, it was aimed to construct an inverse dynamics model for the sequential motion of the arm subjected to external force fluctuations using a two degree of freedom manipulator. In experiments with healthy participants, EMG signals measured from the arm surface during the arm's stationary position task and the planar motion task, and displacements in the x- and y-plane of the arm were recorded. In previous studies, the arm admittance was estimated numerically and experimentally for both tasks. To demonstrate the dynamic arm dynamics, the model parameters obtained with the inverse model will be compared with the parameters calculated experimentally and with matrix frequency response method's.