Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers
Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers
复制标题
生物人工协同作用控制多余机器人手指的抓取姿势
DOI：
10.15607/rss.2014.x.027
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
H. Asada
中科院分区：
文献类型：
--
作者：
Faye Y. Wu;H. Asada
提出了一种新型的腕戴式机器人--多余手指机器人，它能与人手紧密配合，帮助人类完成各种复杂的任务。对于手部功能受损的人来说，这些机器人手指可以提供更多独立生活和更高效工作的机会。需要SR手指和人类手指之间的自然和隐式协调，以便机器人可以转换为人体的一部分。本文提出了一种新的控制算法，称为“生物人工协同”，它使SR和人类的手指一起分担任务负载，并适应不同的任务条件。通过抓取实验和数据分析，发现了由两个SR手指和五个人类手指组成的七指手的姿势协同作用。然后，从实验数据中提取基于协同的控制律，使用偏最小二乘（PLS）回归和测试的SR手指原型的概念证明。关键词-可穿戴机器人;多余机械臂;抓取;姿态协同;偏最小二乘回归
A new type of wrist-mounted robot, the Supernumerary Robotic (SR) Fingers, is proposed to work closely with the human hand and aid the human in performing a variety of prehensile tasks. For people with diminished functionality of their hands, these robotic fingers could provide the opportunity to live with more independence and work more productively. A natural and implicit coordination between the SR Fingers and the human fingers is required so the robot can be transformed to act as part of the human body. This paper presents a novel control algorithm, termed “Bio-Artificial Synergies”, which enables the SR and human fingers to share the task load together and adapt to diverse task conditions. Through grasp experiments and data analysis, postural synergies were found for a seven-fingered hand comprised of two SR Fingers and five human fingers. The synergy-based control law was then extracted from the experimental data using Partial Least Squares (PLS) regression and tested on the SR Finger prototype as a proof of concept. Keywords-wearable robots; supernumerary robotic limbs; grasping; postural synergy; Partial Least Squares regression
DOI：
10.1073/pnas.0500199102
发表时间：
2005-02-22
影响因子：
11.1
作者：
d'Avella, A;Bizzi, E
通讯作者：
Bizzi, E