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Paper ThAP.72

Imran, Abid (Hanyang University), Yi, Byung-Ju (Hanyang University)

Influence of Musculoskeletal Model on Impulses Experienced at Joints, Case Study : Sawing Task

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Biologically-Inspired Robots, Biomimetics, Dynamics

Abstract

During some of manufacturing tasks (e.g., sawing), continuous impulsive force is required. The impulses experienced at joints are called internal impulses and the quantitative measure of impact at end point is called external impulse. As the inertia of the system is increased, the external impulse at contact point is increased which is beneficial to saw off heavy and hard object but at the same time internal impulses experienced at joints are also get increased. The increment in the internal impulse may cause some serious damage or injury at joints of sawing robot. Based on previous manipulator design, the external impulse has limitation for the sake of joint safety. To overcome this problem, inspired by human arm musculoskeletal structure we proposed a kinematic model of human upper extremity for sawing task. The analytical methodologies developed in previous research are only concerned with serial-chain and closed-chain mechanisms, and previous work regarding impulses in human upper extremity is mostly based on clinical data and experimental techniques. We proposed a new analytical computation to find the closed-form solution of internal impulse based on the proposed kinematic model with mono-articular (muscles crossing one joint) and bi-articular muscles (muscles crossing two joints). If we consider the musculoskeletal structure for sawing task then by increasing the muscles mass, the external impulse is increased and the internal impulses experienced at joint are decreased. This is because, by increasing the muscle masses the inertia of the robot is increased, which causes to increase the external impulse. Previous research claims that the internal impulses at proximal joint are less because the impulses are absorbed by change in momentum of links. In our kinematic model, the internal impulses at joints are additionally absorbed by change in momentum of muscles along with the impulse absorption of links. Furthermore, as the masses of muscles will be increased, the external impulse will be increased and more internal impulses will be absorbed by change in momentum of muscles. Consequently, the joints feel lesser impulses. This is the reason that athletes with more developed muscles experience less impulse at shoulder and elbow joints.

 

 

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