Estimating joint torques

[Marcia K. O'malley]

Hello -
I am wondering if there is a method for estimating the torques in each
joint of the arm if you know the overall force applied by the hand. Is
there such a model for decoupling the joints? The application would be
for simpler control of an arm-based exoskeleton for haptic feedback.
Rather than calculating the kinematics for the seven degrees of freedom
of the arm based on the force at the last link (joint), we are looking
for a simpler way to estimate the torques seen by each joint. Any
references or suggestions would be appreciated.

Thanks,
Marcia O'Malley

________________________________________________

Marcia K. O'Malley
Assistant Professor
Mechanical Engineering and Materials Science - MS 321
Rice University
6100 Main Street
Houston, TX 77005-1892

Tel: 713.348.3545
Fax: 713.348.5423

omalleym@rice.edu
http://www.ruf.rice.edu/~omalleym/
________________________________________________

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