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Höppner, Hannes und Lakatos, Dominic und Urbanek, Holger und Castellini, Claudio und 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), Seiten 3312-3316. Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011-05-09 - 2011-05-13, Shanghai, China. doi: 10.1109/icra.2011.5980217.
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Offizielle URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5980217&tag=1
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/87451/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
| Titel: | The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 9 Mai 2011 | ||||||||||||||||||||||||
| Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||
| DOI: | 10.1109/icra.2011.5980217 | ||||||||||||||||||||||||
| Seitenbereich: | Seiten 3312-3316 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | 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 | ||||||||||||||||||||||||
| Veranstaltungstitel: | Robotics and Automation (ICRA), 2011 IEEE International Conference on | ||||||||||||||||||||||||
| Veranstaltungsort: | Shanghai, China | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 9 Mai 2011 | ||||||||||||||||||||||||
| Veranstaltungsende: | 13 Mai 2011 | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||||||
| Hinterlegt von: | Höppner, Hannes | ||||||||||||||||||||||||
| Hinterlegt am: | 10 Jan 2014 16:00 | ||||||||||||||||||||||||
| Letzte Änderung: | 11 Nov 2024 09:03 |
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