ExoSense: Measuring Manipulation in a Wearable Manner
ExoSense: Measuring Manipulation in a Wearable Manner
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ExoSense：以可穿戴方式测量操作
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
A. Bicchi
中科院分区：
文献类型：
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作者：
Edoardo Battaglia;M. Catalano;G. Grioli;M. Bianchi;A. Bicchi
抓取和操作是一项复杂的任务，在日常生活中对人类来说看似简单，但在机器人手中实现却是一项挑战。在文献中有一种趋势，利用从人类抓取研究中获得的信息来设计和控制机器人操纵器。然而，这种方法的有效性取决于可供人类使用的测量工具。虽然为此目的设计了许多传感解决方案，但在抓取相互作用期间获得一整套力的测量仍然具有挑战性。在这项工作中，我们的目标是通过引入被动手外骨骼ExoSense来弥合这一差距。该装置可以提供指尖的位置和方向，当与指尖可穿戴力/扭矩传感系统ThimbleSense集成时，可以以完全可穿戴和不受约束的方式，根据每个指尖上的广义力和接触位置完整地表征操作。在验证了末端执行器姿势测量和抓取测量的整体准确性之后，我们报告了一个初步实验，旨在展示该系统研究人体内部抓取力变化和一般神经科学研究的潜力。
Grasp and manipulation is a complex task, deceivingly simple to accomplish for humans in everyday life, yet challenging to implement in a robotic hand. There is a trend in literature to use information obtained from studies on human grasp for the design and control of robotic manipulators. However, the effectiveness of such approach is dependent on the measurement tools that are available for use with human hands. While there are many sensing solutions that are designed for this purpose, obtaining a complete set of measurements of forces during grasp interaction is still challenging. In this work we aim to bridge this gap by introducing ExoSense, a passive hand exoskeleton. This device can provide position and orientation of the fingertips and, when integrated with the fingertip wearable force/torque sensing system ThimbleSense, a complete characterization of manipulation in terms of generalized forces and position of contacts on each fingertip in a completely wearable and unconstrained manner. After validating the device in terms of end-effector posture measurements and overall accuracy of grasp measurements, we report on a preliminary experiment aiming to show the potentialities of the system to study human internal grasp force variations and for neuroscientific investigation in general.
影响因子：
11.7
作者：
Santello M;Bianchi M;Gabiccini M;Ricciardi E;Salvietti G;Prattichizzo D;Ernst M;Moscatelli A;Jörntell H;Kappers AM;Kyriakopoulos K;Albu-Schäffer A;Castellini C;Bicchi A
通讯作者：
Bicchi A