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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.
| Item URL in elib: | https://elib.dlr.de/87451/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
| Title: | The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task | ||||||||||||||||||||||||
| Authors: |
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| Date: | 9 May 2011 | ||||||||||||||||||||||||
| Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||
| 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 System Technology | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||||||||||||||||||||
| Deposited By: | Höppner, Hannes | ||||||||||||||||||||||||
| Deposited On: | 10 Jan 2014 16:00 | ||||||||||||||||||||||||
| Last Modified: | 31 Jul 2019 19:44 |
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