Identification of human grasp dynamics in teleoperation

This paper presents a generic wrist-hand model for the human operator and a numerical algorithm for real-time identification of both human grasping using model reference adaptive approach. The impact of grasping postures, forces, and localized muscle fatigue upon grasp dynamics was studied. Results are given for experiments to determine human wrist-hand dynamics, to calibrate the identification algorithm, and to determine changes in hand/wrist grasp dynamics with onset of localized muscle fatigue.

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