A Bionic Hand for Semi-Autonomous Fragile Object Manipulation via Proximity and Pressure Sensors
A Bionic Hand for Semi-Autonomous Fragile Object Manipulation via Proximity and Pressure Sensors
复制标题
通过接近传感器和压力传感器进行半自主易碎物体操纵的仿生手
DOI：
10.1109/embc46164.2021.9629622
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
George, Jacob A.
中科院分区：
文献类型：
--
作者：
Hansen, Taylor C.;Trout, Marshall A.;Segil, Jacob L.;Warren, David J.;George, Jacob A.
多关节仿生手现在能够再现人手的内源性运动和抓握模式，但截肢者仍然对现有的控制策略不满意。实现更灵巧和直观控制的一种方法是创造一种半自主的仿生手，可以协同帮助人类完成复杂的任务。为此，我们开发了一种仿生手，可以使用多模态指尖传感器以最小的力自动检测和抓取附近的物体。我们使用一个脆弱的对象的任务，参与者必须移动一个对象在一个障碍，而不施加压力超过指定的阈值的性能进行了评估。参与者在三种情况下完成任务：1）使用他们的原生手，2）使用表面肌电控制的仿生手，3）使用半自主仿生手。我们表明，半自主的手是非常有能力完成这项灵巧的任务，并显着优于更传统的表面肌电图控制器。此外，我们表明，半自主仿生手显着提高用户的抓握精度和减少用户的感知任务的工作量。这项工作是朝着更灵巧和直观的仿生手迈出的重要一步，并为智能仿生系统的共享人机控制的未来工作奠定了基础。
Multiarticulate bionic hands are now capable of recreating the endogenous movements and grip patterns of the human hand, yet amputees continue to be dissatisfied with existing control strategies. One approach towards more dexterous and intuitive control is to create a semi-autonomous bionic hand that can synergistically aid a human with complex tasks. To that end, we have developed a bionic hand that can automatically detect and grasp nearby objects with minimal force using multi-modal fingertip sensors. We evaluated performance using a fragile-object task in which participants must move an object over a barrier without applying pressure above specified thresholds. Participants completed the task under three conditions: 1) with their native hand, 2) with the bionic hand using surface electromyography control, and 3) using the semi-autonomous bionic hand. We show that the semi-autonomous hand is extremely capable of completing this dexterous task and significantly outperforms a more traditional surface-electromyography controller. Furthermore, we show that the semi-autonomous bionic hand significantly increased users’ grip precision and reduced users’ perceived task workload. This work constitutes an important step towards more dexterous and intuitive bionic hands and serves as a foundation for future work on shared human-machine control for intelligent bionic systems.
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影响因子：
3
作者：
George, Jacob A.;Davis, Tyler S.;Clark, Gregory A.
通讯作者：
Clark, Gregory A.
DOI：
10.1109/tnsre.2020.3038706
发表时间：
2020-11
影响因子：
4.9
作者：
Jacob G. Nieveen;Mark R. Brinton;D. J. Warren;Senior Member;V. J. Mathews
通讯作者：
Jacob G. Nieveen;Mark R. Brinton;D. J. Warren;Senior Member;V. J. Mathews
影响因子：
5.1
作者：
Wendelken S;Page DM;Davis T;Wark HAC;Kluger DT;Duncan C;Warren DJ;Hutchinson DT;Clark GA
通讯作者：
Clark GA
影响因子：
2.9
作者：
Page DM;George JA;Kluger DT;Duncan C;Wendelken S;Davis T;Hutchinson DT;Clark GA
通讯作者：
Clark GA