An approach to power assist hand exoskeleton for patients with paralysis

Hidekatsu Uchida, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ657-662
ページ数6
ISBN(電子版)9781538619469
DOI
出版ステータスPublished - 2018 6 1
イベント15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
継続期間: 2018 3 92018 3 11

出版物シリーズ

名前Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 機械工学
  • 制御と最適化

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