REFERENCES
- AliciG, ShirinzadehB. 2005. Enhanced stiffness modeling, identification and characterization for robot manipulators. IEEE Trans Robotic.21(4):554–564.
- ArnoldVI. 1989. Mathematical methods of classical mechanics. 2nd ed.. New York, NY: Springer.
- BoothbyW. 1986. Introduction to differentiable manifolds and Riemannian geometry. New York: Academic Press Inc.
- BulloF, LewisAD. 2005. Geometric control of mechanical systems. New York: Springer.
- BurdetE, OsuR, FranklinDW, MilnerTE, KawatoM. 2001. The central nervous system stabilizes unstable dynamics by learning optimal impedance. Nature. 414:446–449.
- CampoloD, AccotoD, FormicaD, GuglielmelliE. 2009. Intrinsic constraints of neural origin: assessment and application to rehabilitation robotics. IEEE Trans Robotic.25(3):492–501.
- CampoloD, FormicaD, GuglielmelliE, KellerF. 2010. Kinematic analysis of the human wrist during pointing tasks. Exp Brain Res.201:561–573.
- CeccarelliM, CarboneG. 2002. A stiffness analysis for CaPaMan (CassinoParallel Manipulator). Mech Mach Theory.37:427–439.
- CharlesSK, HoganN. 2011. Dynamics of wrist rotations. J Biomech.44:614–621.
- CliblakN, LipkinH. 1994. Asymmetric Cartesian stiffness for the modeling of comliant robotic systems. Proceedings of the 23rd Biennial ASME Mechanisms Conference, Minneapolis, MN.
- EnglishCE, RussellDL. 2008. Representations of multi-joint stiffness for prosthetic limb design. Mech Mach Theory.43:297–309.
- HelgasonS. 1978. Differential geometry, Lie groups and symmetric spaces. San Diego, CA: Academic Press, Inc.
- HoganN. 1985. The mechanics of multi-joint posture and movement control. Biol Cybern.52:315–331.
- KargerA. 1989. Curvature properties of 6-parametric robot manipulator. Manuscripta Math.65:311–328.
- KrebsHI, HoganN. 2006. Therapeutic robotics: a technology push. Proc IEEE Inst Electr Electron Eng.94(9):1727–1738.
- LoncaricJ. 1987. Normal forms of stiffness and compliance matrices. IEEE Trans Robotic Autom.3(6):567–572.
- MurrayRM, LiZ, SastrySS. 1994. A mathematical introduction to robotic manipulation. Boca Raton, FL: CRC.
- Mussa-IvaldiF, HoganN, BizziE. 1985. Neural, mechanical, and geometric factor subserving arm posture in humans. J Neurosci.5:2732–2743.
- ParkFC, BobrowJE, PloenSR. 1995. A Lie group formulation of robot dynamics. Int J Robotic Res.14:609–618.
- PerreaultEJ, KirschRF, CragoPE. 2004. Multijoint dynamics and postural stability of the human arm. Exp Brain Res.157:507–517.
- PisanoF, MiscioG, Del ConteC, PiancaD, CandeloroE, ColomboR. 2000. Quantitative measures of spasticity in post-stroke patients. Clin Neurophysiol.111:1015–1022.
- RijnveldN, KrebsHI. 2007. Passive wrist joint impedance in flexion – extension and abduction – adduction. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics (ICORR), June 12–15, Noordwijk, The Netherlands. p. 43–47.
- SimoJC. 1992. The (symmetric) Hessian for geometrically nonlinear models in solid mechanics: intrinsic definition and geometric interpretation. Comput Methods Appl Mech Eng.96:189–200.
- ZefranM, KumarV. 2002. A geometrical approach to the study of the Cartesian stiffness matrix. J Mech Des.124(1):30–38.