Аннотация
Rehabilitation devices are widely available in clinical centers. New studies focus on enhancing the rehabilitation device by robotics technology to Assistive As Needed (AAN) robots which exercise patients according to their muscle capacity. ANN fulfills its purpose by impedance regulation and intention angle adjustment. On the other hand, human tries to leverage the body exercise by increasing the load or practicing a specific motion like reaching a certain velocity in throwing a ball. ANN devices should tackle the uncertainty in the lifted weight or reaching certain velocity tasks by impedance regulation. Moreover, they should tightly mimic the healthy human biomechanics in case of any impedance modulation and intention angle adjustment. This paper explores the optimal impedance tuning of human's elbow joint for two particular exercises namely: weight handling and reaching certain velocity. Intrinsic passive impedance is considered in the modeling of the human elbow. The CMC (Computed Muscle Control) of the OpenSim program is utilized to compute the total resultant torque of the dominant muscles around the elbow joint.