ICRA 2011 Paper Abstract

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Paper WeA211.2

Hoeppner, Hannes (DLR - German Aerospace Center), Lakatos, Dominic (DLR - German Aerospace Center), Urbanek, Holger (German Aerospace Center), Castellini, Claudio (DLR - German Aerospace Research Center), van der Smagt, Patrick (DLR)

The Grasp Perturbator: Calibrating Human Grasp Stiffness During a Graded Force Task

Scheduled for presentation during the Regular Sessions "Grasping II" (WeA211), Wednesday, May 11, 2011, 10:20−10:35, 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 December 8, 2019

Keywords Grasping, Compliance and Impedance Control, Biomimetics

Abstract

In this paper we present a novel and simple hand-held measurement 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 impedancecontrolled. Potential applications of human impedance estimation range from impedance-controlled telesurgery to limb prosthetics and rehabilitation robotics. We validate the device via a physiological experiment in which the device is used to show a linear relationship between finger stiffness and grip force.

 

 

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