Dynamic joint stiffness determines the relation between joint position and torque, and plays a vital role in the control of posture and movement. Dynamic joint stiffness can be quantified during quasi-stationary conditions using disturbance experiments, where small position perturbations are applied to the joint and the torque response is recorded. Dynamic joint stiffness is composed of intrins...

The torsional stiffness of the reducer is commonly assumed to be static and tested using hysteresis curve method. However, practical engineering experience shows that dynamic rather than static, method cannot accurately represent reducer’s during actual operation. To address these issues, this study conducts theoretical research on characteristics stiffness, introduces a new concept called prov...

Wave propagation in unbounded layered media with a new formulation of Axisymmetric Scaled Boundary Finite Element Method (AXI-SBFEM) is derived. Dividing the general three-dimensional unbounded domain into a number of independent two-dimensional ones, the problem could be solved by a significant reduction in required storage and computational time. The equations of the corresponding Axisymmetri...

We tested an innovative method to estimate joint stiffness and damping during multijoint unfettered arm movements. The technique employs impulsive perturbations and a time-frequency analysis to estimate the arm's mechanical properties along a reaching trajectory. Each single impulsive perturbation provides a continuous estimation on a single-reach basis, making our method ideal to investigate m...