Dynamical Synergies in Multidigit Hand Prehension
Dynamical Synergies in Multidigit Hand Prehension
复制标题
多指手握持中的动态协同作用
DOI：
10.1109/embc48229.2022.9871888
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Vinjamuri, Ramana
中科院分区：
文献类型：
--
作者：
Pei, Dingyi;Olikkal, Parthan;Adali, Tulay;Vinjamuri, Ramana
手伸需要高度协调的接触力控制。人类手部的高维感觉运动系统操作自如，但在人造手中复制时会带来一些挑战。本文研究了如何动态协同，协调的时空模式的接触力，有助于手抓，以及他们是否可以潜在地捕捉力基元在低维空间。招募了10名右撇子受试者，让他们抓握和握住质量不同的物体。使用仪器化抓握手套记录该多指伸展期间的接触力。利用主成分分析（PCA）的动态协同作用。使用前几个协同作用重建抓握过程中的贴靠力模式。阐述了动力协同的意义，以及载荷和任务配置对协同的影响。本研究还讨论了生物力学约束对前几个协同作用的贡献，以及外骨骼设计和控制中动态协同作用的当前挑战和可能应用。将动态协同作用集成到外骨骼中将在不久的将来实现。
Hand prehension requires highly coordinated control of contact forces. The high-dimensional sensorimotor system of the human hand operates at ease, but poses several challenges when replicated in artificial hands. This paper investigates how the dynamical synergies, coordinated spatiotemporal patterns of contact forces, contribute to the hand grasp, and whether they could potentially capture the force primitives in a low-dimensional space. Ten right-handed subjects were recruited to grasp and hold mass-varied objects. The contact forces during this multidigit prehension were recorded using an instrumented grip glove. The dynamical synergies were derived using principal component analysis (PCA). The contact force patterns during the grasps were reconstructed using the first few synergies. The significance of the dynamical synergies, the influence of load forces and task configurations on the synergies were explained. This study also discussed the contribution of biomechanical constraints on the first few synergies and the current challenges and possible applications of the dynamical synergies in the design and control of exoskeletons. The integration of the dynamical synergies into exoskeletons will be realized in the near future.
影响因子：
4.6
作者：
Vinjamuri, Ramana;Sun, Mingui;Mao, Zhi-Hong
通讯作者：
Mao, Zhi-Hong
影响因子：
2.4
作者：
Cepria-Bernal, Javier;Perez-Gonzalez, Antonio;Sancho-Bru, Joaquin L.
通讯作者：
Sancho-Bru, Joaquin L.
伸手和抓握过程中手部手指关节速度分布的时变协同作用
DOI：
10.1109/iembs.2007.4353425
发表时间：
2007
期刊：
2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
R. Vinjamuri;Zhihong Mao;R. Sclabassi;Mingui Sun
通讯作者：
Mingui Sun