An approach to power assist hand exoskeleton for patients with paralysis

Hidekatsu Uchida, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages657-662
Number of pages6
ISBN (Electronic)9781538619469
DOIs
Publication statusPublished - 2018 Jun 1
Event15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
Duration: 2018 Mar 92018 Mar 11

Other

Other15th IEEE International Workshop on Advanced Motion Control, AMC 2018
CountryJapan
CityTokyo
Period18/3/918/3/11

Fingerprint

Grasping
Force Sensor
Robotics
Torque
Sensors
Sensor
Contact Force
Power Control
Substitute
Observer
End effectors
Motion
Operator
Experiment
Simulation
Human
Experiments

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

Uchida, H., & Murakami, T. (2018). An approach to power assist hand exoskeleton for patients with paralysis. In Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 (pp. 657-662). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2019.8371172

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 proceedingConference contribution

Uchida, H & Murakami, T 2018, An approach to power assist hand exoskeleton for patients with paralysis. in Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., pp. 657-662, 15th IEEE International Workshop on Advanced Motion Control, AMC 2018, Tokyo, Japan, 18/3/9. https://doi.org/10.1109/AMC.2019.8371172
Uchida H, Murakami T. An approach to power assist hand exoskeleton for patients with paralysis. In Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 657-662 https://doi.org/10.1109/AMC.2019.8371172
Uchida, Hidekatsu ; Murakami, Toshiyuki. / An approach to power assist hand exoskeleton for patients with paralysis. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 657-662
@inproceedings{21927ff39282456c95d81fa5bdab8089,
title = "An approach to power assist hand exoskeleton for patients with paralysis",
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.",
keywords = "Exoskeleton, Force control, Power assist, Prosthetic, Robotic hand",
author = "Hidekatsu Uchida and Toshiyuki Murakami",
year = "2018",
month = "6",
day = "1",
doi = "10.1109/AMC.2019.8371172",
language = "English",
pages = "657--662",
booktitle = "Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

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 -