Online Model Based Estimation of Complete Joint Stiffness of Human Arm

Betreuer: Sugeeth Gopinathan

The estimation of human arm stiffness is recognized as a key component for ensuring the stability of the arms physical interaction with the external world. The analysis of the joint stiffness behavior of the human arm can provide complementary insights into intuitive regulation of the robot stiffness in the joint coordinates. Correct estimation of human arm stiffness could lead to stable tele-operation and interaction systems where the robots stiffness can be adapted to human arm stiffness for improved interaction quality.

Sources:
- https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7990237
- https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5623341/