ICRA 2011 Paper Abstract


Paper WeP111.3

Artemiadis, Panagiotis (Massachusetts Institute of Technology), Katsiaris, Pantelis (National Technical University of Athens), Liarokapis, Minas (National Technical University of Athens), Kyriakopoulos, Kostas (National Technical Univ. of Athens)

On the Effect of Human Arm Manipulability in 3D Force Tasks: Towards Force-Controlled Exoskeletons

Scheduled for presentation during the Regular Sessions "Physical Human-Robot Interaction I" (WeP111), Wednesday, May 11, 2011, 14:10−14:25, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Physical Human-Robot Interaction, Neurorobotics


Coupling the human upper limbs with robotic devices is gaining increasing attention in the last decade, due to the emerging applications in orthotics, prosthetics and rehabilitation devices. In the cases of every-day life tasks, force exertion and generally interaction with the environment is absolutely critical. Therefore, the decoding of the user's force exertion intention is important for the robust control of orthotic robots (e.g. arm exoskeletons). Nevertheless, humans tend to perform force tasks in a robust manner, making use of the inherent redundancy of the arm in kinematic as well as in musculo-skeletal level. The analysis of these strategies can benefit the control of coupled human-robot systems in force exertion tasks. In this paper, the human arm manipulability is analyzed and its effect on the recruitment of the musculo-skeletal system is explored. It was found that the recruitment and activation of muscles is strongly affected by arm manipulability. Based on this finding, a decoding method was built in order to estimate force exerted in the three-dimensional (3D) task space from surface ElectroMyoGraphic (EMG) signals, recorded from muscles of the arm. The method is using the manipulability information for the given force task. Experimental results were verified in various arm configurations with two subjects.



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