Abstract
The aim of this paper is to propose a novel robotic hand exoskeleton which can assist disabled people with grasping objects. Existing exoskeletons cannot measure force during contact motion, and this makes it difficult to achieve accurate grasp assistance. In the proposed system the exoskeletal finger is attached to the index and middle fingers, and the robotic finger is place on the palm side, which functions as a substitute of a thumb. The upper exoskeletal finger exerts assistive force on operator's fingers, and the lower robotic finger works as a force sensor by the use of Reaction Torque Observer. Thus, human grasping force is measured during grasping, and the environmental and human forces are estimated from measured torque. The proposed system realizes power assist control without using additive sensors like force sensors or EMG sensors. The effectiveness of the proposed method is demonstrated through simulation and experiment.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 657-662 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781538619469 |
| DOIs | |
| Publication status | Published - 2018 Jun 1 |
| Event | 15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan Duration: 2018 Mar 9 → 2018 Mar 11 |
Other
| Other | 15th IEEE International Workshop on Advanced Motion Control, AMC 2018 |
|---|---|
| Country | Japan |
| City | Tokyo |
| Period | 18/3/9 → 18/3/11 |
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Keywords
- Exoskeleton
- Force control
- Power assist
- Prosthetic
- Robotic hand
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Mechanical Engineering
- Control and Optimization
Cite this
An approach to power assist hand exoskeleton for patients with paralysis. / Uchida, Hidekatsu; Murakami, Toshiyuki.
Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 657-662.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An approach to power assist hand exoskeleton for patients with paralysis
AU - Uchida, Hidekatsu
AU - Murakami, Toshiyuki
PY - 2018/6/1
Y1 - 2018/6/1
N2 - The aim of this paper is to propose a novel robotic hand exoskeleton which can assist disabled people with grasping objects. Existing exoskeletons cannot measure force during contact motion, and this makes it difficult to achieve accurate grasp assistance. In the proposed system the exoskeletal finger is attached to the index and middle fingers, and the robotic finger is place on the palm side, which functions as a substitute of a thumb. The upper exoskeletal finger exerts assistive force on operator's fingers, and the lower robotic finger works as a force sensor by the use of Reaction Torque Observer. Thus, human grasping force is measured during grasping, and the environmental and human forces are estimated from measured torque. The proposed system realizes power assist control without using additive sensors like force sensors or EMG sensors. The effectiveness of the proposed method is demonstrated through simulation and experiment.
AB - The aim of this paper is to propose a novel robotic hand exoskeleton which can assist disabled people with grasping objects. Existing exoskeletons cannot measure force during contact motion, and this makes it difficult to achieve accurate grasp assistance. In the proposed system the exoskeletal finger is attached to the index and middle fingers, and the robotic finger is place on the palm side, which functions as a substitute of a thumb. The upper exoskeletal finger exerts assistive force on operator's fingers, and the lower robotic finger works as a force sensor by the use of Reaction Torque Observer. Thus, human grasping force is measured during grasping, and the environmental and human forces are estimated from measured torque. The proposed system realizes power assist control without using additive sensors like force sensors or EMG sensors. The effectiveness of the proposed method is demonstrated through simulation and experiment.
KW - Exoskeleton
KW - Force control
KW - Power assist
KW - Prosthetic
KW - Robotic hand
UR - http://www.scopus.com/inward/record.url?scp=85048819531&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85048819531&partnerID=8YFLogxK
U2 - 10.1109/AMC.2019.8371172
DO - 10.1109/AMC.2019.8371172
M3 - Conference contribution
SP - 657
EP - 662
BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
ER -