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. Author manuscript; available in PMC: 2015 Jul 9.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2011;2011:4076–4081. doi: 10.1109/IEMBS.2011.6091013

Fig. 1.

Fig. 1

Mechanical diagram of the interaction between the human arm and a predictable dynamic environment: {M, B, K} and {Me, Be, Ke} are the inertia, damping and stiffness of the arm and the environment, respectively; υe is the velocity of the environment; F is the interaction force.