Abstract
The work presented here tests the validity of a model of human performance of intermittent contact tasks in which the arm is alternately free and constrained by contact with an object. Experiments were performed to quantify typical human behavior while making unconstrained, constrained, and intermittently constrained two-joint arm movements. Additional experiments were performed which measured the static two-joint impedance of the experimental subjects. A series of linear and non-linear time-invariant models were created from these impedance measurements and then tested for competence in modeling human behavior measured in the three tasks. It was found that tasks with simple dynamics such as the unconstrained and constrained movements could be competently modeled with the proposed models. However, none of the models tested could match the behavior of the arm during the intermittent contact task.
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