(a) create a transfer function for the system describing how the elbow joint ang

Question

(a) create a transfer function for the system describing how the elbow joint angle varies as a function of robotically applied torques when the subject grasps the handle as in the figure.

GIVEN:

1 DOF robotic Arm

Robotic Arm:

      1 kg centered @ handle

      viscous coefficient of friction = 3.5 Nms/rad

Human Arm:

      9 kg centered @ hand

      passive stiffnes = 1.5 Nm/rad

Equilibrium configuration = neutral postion shown in figure below

The distance from the elbow center of rotation to the center of the handle is 30 cm.

create a transfer function for the system describing how the elbow joint angle varies as a function of robotically applied torques when the subject grasps the handle as in the figure.

Explanation / Answer

(a) create a transfer function for the system describing how the elbow joint ang

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