Robotics of human movements

Smagt, Patrick van der; Grebenstein, Markus; Urbanek, Holger; Fligge, Nadine; Strohmayr, Michael; Stillfried, Georg; Parrish, Jonathon; Gustus, Agneta

doi:10.1016/j.jphysparis.2009.07.009

Cited by 27 publications

(14 citation statements)

References 34 publications

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“…Publications from a technical prospectus are e.g., a review of the development of exoskeletons [10], the used control strategies [11,12], the complete mechanical design [13] and the shoulder mechanism design in particular [14]. A review of robotic systems in general, concerning the actuation principles, sensing methods and control strategies, is given in [15]. This paper presents, in contrast with existing overview papers, a technical overview with focus on the applied actuators and their performance.…”

Section: Introductionmentioning

confidence: 99%

Overview of Actuated Arm Support Systems and Their Applications

et al. 2013

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Arm support systems provide support throughout daily tasks, training or in an industrial environment. During the last decades a large diversity of actuated arm support systems have been developed. To analyze the actuation principles in these systems, an overview of actuated arm support systems is provided. This overview visualizes the current trends on research and development of these support systems and distinguishes three categories. These categories depend mainly on the functional status of the user environment, which defines the specifications. Therefore, the actuated arm support systems are classified according to their user environment, namely: ambulatory, rehabilitation and industrial. Furthermore, three main actuation principles and three mechanical construction principles have been identified

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Section: Introductionmentioning

confidence: 99%

Overview of Actuated Arm Support Systems and Their Applications

et al. 2013

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“…In this sense, techniques based on the monitoring of hand movements are required to accomplish complex tasks with a precise, realistic, and intuitive approach. Examples of possible applications include teleoperation of robotic manipulators for exploring inhospitable or hazardous locations [1], robot-assisted surgeries [2], rehabilitation and therapy [3], virtual-reality systems [4], and interpretation of sign languages [5].…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Thumb-Operated Directional Pad Functionalities on a Glove-Based Optical Fiber Sensor

Fujiwara

Miyatake

et al. 2013

IEEE Trans. Instrum. Meas.

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The implementation of directional pad functionalities on a glove-based optical fiber sensor by monitoring the thumb posture is reported. Multimode fiber bending transducers were attached to the glove to measure the flexion/extension and adduction/abduction movements of thumb joints. Then, the optical signals corresponding to each transducer were correlated to the relative finger position during the manipulation of a directional pad by using artificial neural networks. The estimation of thumb stationary location over the pad yielded a maximum absolute error of 4.3 mm, whereas the dynamic evaluation of finger trajectories resulted in errors lower than 5.5 mm. Furthermore, it was demonstrated that the glove sensor is able to identify the correct direction with 96.67% accuracy when applied as an eight-direction digital controller.

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“…Human arm-like robots are created to imitate some of the same physical and mental tasks that human multi-joint arm undergoes daily. Scientists and specialists from many different fields including cognitive science, linguistics, and engineering combine their efforts to create the human arm-like robot as human multi-joint arm as possible (1), (2) . Till now, building the human arm-like robot which is as skillful as the human multi-joint arm is still a challenge issue in the field of robotics.…”

Section: Introductionmentioning

confidence: 99%

Human Arm-Like Robot Control Based on Human Multi-Joint Arm Viscoelastic Properties and A Modified Forward Gaze Model

Wang

Deng

2012

JSDD

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In this paper, a human arm-like robot control scheme is proposed based on timevarying viscoelastic properties which consist of multi-joint stiffness and multi-joint viscosity during human arm movements and a modified forward gaze model. In general, in human multi-joint arm movements, the multi-joint torque is assumed to be a function of multi-joint stiffness matrix, multi-joint viscosity matrix, and motor command descending from central nervous system (CNS). In order to make the present human arm-like robot move like a human multi-joint arm, a feedback controller and a modified forward gaze model are presented in the human arm-like robot control system. That is, the feedback controller is designed to obtain desired motion mechanism based on real measured data from viscoelastic properties of human multi-joint arm, and the forward gaze model in which steering gains are modified using a cost function is used to compensate the term related to the effect of CNS. The effectiveness of the proposed method is confirmed by the simulation results based on experimental data.

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Robotics of human movements

Cited by 27 publications

References 34 publications

Overview of Actuated Arm Support Systems and Their Applications

Overview of Actuated Arm Support Systems and Their Applications

Evaluation of Thumb-Operated Directional Pad Functionalities on a Glove-Based Optical Fiber Sensor

Human Arm-Like Robot Control Based on Human Multi-Joint Arm Viscoelastic Properties and A Modified Forward Gaze Model

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