ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.37

Hasegawa, Yasuhisa (University of Tsukuba), Tokita, Junichiro (University of Tsukuba), Kamibayashi, Kiyotaka (Graduate School of Systems and Information Engineering, Universi), Sankai, Yoshiyuki (University of Tsukuba)

Evaluation of Fingertip Force Accuracy in Different Support Conditions of Exoskeleton

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

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 April 2, 2020

Keywords Physical Human-Robot Interaction, Human Performance Augmentation, Cognitive Human-Robot Interaction


This paper investigates force accuracy of a human finger in three types of support conditions of an exoskeleton. The exoskeleton augments pinching force of a wearer's index finger in proportion to it based on surface electromyography. Three supporting manners of the pinching force are evaluated by switching a fingertip part of the exoskeleton. One is that the assistive force is applied to the wearer's finger so that the force could be sensible by the wearer. Another case is that the assistive force is directly delivered to a grasping object without a wearer's fingertip. The other is that a part of the force directly affects the object and the rest affects the wearer's finger. Through pilot experiments, transitions of the accuracy through training in these cases are compared each other.



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