Rendering Strategies for Underactuated Hand Exoskeletons
Rendering Strategies for Underactuated Hand Exoskeletons
复制标题
欠驱动手部外骨骼的渲染策略
DOI：
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发表时间：
2018
影响因子：
5.2
通讯作者：
A. Frisoli
中科院分区：
文献类型：
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作者：
M. Sarac;M. Solazzi;M. Otaduy;A. Frisoli
欠驱动外骨骼提供了改进的简单性、可负担性和基于相互作用力的运动可调节性，但反过来它们缺乏可控性。在这封信中，我们提出了不同的渲染策略，以提高欠驱动设备的可控性，没有先验知识的任务要执行。由于欠驱动设备不能实现所有期望的姿势或呈现所有期望的力，所提出的策略用设备可以满足的代理值来替换这些期望值。力和操作空间中的策略旨在最小化操作期间分别期望和实际输出力或姿态之间的误差。我们测试这些策略首先使用欠驱动的手外骨骼在虚拟抓取任务。然后，我们比较他们彼此和其他现有的方法，通过分析他们的控制性能在轨迹跟踪任务。
Underactuated exoskeletons offer improved simplicity, affordability, and movement adjustability based on interaction forces, but in turn they suffer from lack of controllability. In this letter, we propose different rendering strategies to improve the controllability of underactuated devices, with no prior knowledge about the task to be performed. Since underactuated devices cannot achieve all desired poses or render all desired forces, the proposed strategies replace these desired values with proxy values that the devices can satisfy. Strategies in the force and operational spaces aim to minimize the error between the desired and the actual output force or pose, respectively, during operation. We test these strategies first using an underactuated hand exoskeleton during a virtual grasping task. Then, we compare them to each other and to other existing methods by analyzing their control performance during a trajectory tracking task.