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Arm Dynamics and System Identification

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  • Arm Dynamics and System Identification

    Hi,
    I am graduate student (Bioengineering) at the Arizona State
    University. I on working on a rehabilitation robot, and I need to
    calculated the inertial parameters (mass, moment of inertia, center of
    mass etc.) and some parameters related to arm dynamics (like the
    friction in the joints, stiffness etc.) for performing inverse dynamic
    calculations.
    It would be very helpful is someone can tell about the work that
    has already been done in the area. Kindly, do let me know if you are
    aware any good resources (papers, books etc.) for the same.

    Thanks for your time.

    Yours,
    Siva.
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