A Control Architecture for Grasp Strength Regulation in Myocontrolled Robotic Hands Using Vibrotactile Feedback: Preliminary Results

IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Roberto MeattiniClaudio Melchiorri

Abstract

Nowadays, electric-powered hand prostheses do not provide adequate sensory instrumentation and artificial feedback to allow users voluntarily and finely modulate the grasp strength applied to the objects. In this work, the design of a control architecture for a myocontrol-based regulation of the grasp strength for a robotic hand equipped with contact force sensors is presented. The goal of the study was to provide the user with the capability of modulating the grasping force according to target required levels by exploiting a vibrotactile feedback. In particular, the whole human-robot control system is concerned (i.e. myocontrol, robotic hand controller, vibrotactile feedback.) In order to evaluate the intuitiveness and force tracking performance provided by the proposed control architecture, an experiment was carried out involving four naïve able-bodied subjects in a grasping strength regulation task with a myocontrolled robotic hand (the University of Bologna Hand), requiring for grasping different objects with specific target force levels. The reported results show that the control architecture successfully allowed all subjects to achieve all grasping strength levels exploiting the vibrotactile feedback information. This pre...Continue Reading

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.

Related Papers

Journal of Rehabilitation and Assistive Technologies Engineering
Ioannis KanerisPanagiotis Artemiadis
Frontiers in Neurorobotics
Annette HagengruberJörn Vogel
IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Andrei NinuDario Farina
© 2021 Meta ULC. All rights reserved