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The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task

Höppner, Hannes and Lakatos, Dominic and Urbanek, Holger and Castellini, Claudio and van der Smagt, Patrick (2011) The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3312-3316. Robotics and Automation (ICRA), 2011 IEEE International Conference on, Shanghai, China.

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5980217&tag=1

Abstract

In this paper we present a novel and simple handheld device for measuring in vivo human grasp impedance. The measurement method is based on a static identification method and intrinsic impedance is identified inbetween 25 ms. Using this device it is possbile to develop continuous grasp impedance measurement methods as it is an active research topic in physiology as well as in robotics, especially since nowadays (bio-inspired) robotics can be impedance-controlled. Potential applications of human impedance estimation range from impedance-controlled telesurgery to limb prosthetics and rehabilitation robotics. We validate the device through a physiological experiment in which the device is used to show a linear relationship between finger stiffness and grip force.

Document Type:Conference or Workshop Item (Speech)
Title:The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task
Authors:
AuthorsInstitution or Email of Authors
Höppner, Hanneshannes.hoeppner@dlr.de
Lakatos, Dominicdominic.lakatos@dlr.de
Urbanek, HolgerHolger.Urbanek@dlr.de
Castellini, Claudioclaudio.castellini@dlr.de
van der Smagt, PatrickTechnische Universität München
Date:9 May 2011
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:pp. 3312-3316
Status:Published
Keywords:biomechanics;elastic constants;grippers;patient rehabilitation;physiology;prosthetics;bio-inspired robotics;continuous grasp impedance measurement methods;finger stiffness;graded force task;grasp perturbator;grip force;handheld device;human grasp stiffness calibration;human impedance estimation range;impedance-controlled telesurgery;in vivo human grasp impedance;intrinsic impedance;limb prosthetics;linear relationship;physiological experiment;physiology;rehabilitation robotics;static identification method;Force;Force measurement;Humans;Impedance;Indexes;Robots;Springs
Event Title:Robotics and Automation (ICRA), 2011 IEEE International Conference on
Event Location:Shanghai, China
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Mechatronic Components and Systems
Deposited By: Hannes Höppner
Deposited On:10 Jan 2014 16:00
Last Modified:08 May 2014 23:31

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