Paper Info
Title
Pinching force accuracy affected by thumb sensation in human force augmentation
Abstract
This paper introduces contribution of the thumb sensation to precisions of human's pinching force control when the human cooperatively pinch an object with the exoskeleton, which augments human pinching force based on a surface electromyography. A human hand should contact with a grasping object directly, while the exoskeleton pushes the human hand for grasping support, because tactile feedback from the hand is very important for human to handle an object stably and dexterously. However the exoskeleton may crush the human fingers with excessive force. The exoskeleton distributes the assistive force to the pinching object in two routes: directly and through a human finger. In our previous study, the accuracy of the pinching force is improved when the distribution factor of the index finger assistance keeps constant. This paper reports improvement of the pinching force when the fixed ratio of the pinching force assistance is applied to the index finger and thumb. In addition, we reveal the contribution of the thumb sensation.
Year
DOI
Venue
2012
10.1109/IROS.2012.6386081
Journal of the Robotics Society of Japan
Keywords
Field
DocType
dexterous manipulators,electromyography,force control,handicapped aids,touch (physiological),distribution factor,excessive force,exoskeleton,grasping support,human fingers,human force augmentation,human hand,human pinching force,human pinching force control precisions,index finger,object grasping,pinching force accuracy,surface electromyography,tactile feedback,thumb sensation
Computer vision,Index finger,Thumb,Simulation,Computer science,Electromyography,Control engineering,Exoskeleton,Artificial intelligence,Sensation
Conference
Volume
Issue
ISSN
31
4
2153-0858
ISBN
Citations 
PageRank 
978-1-4673-1737-5
3
0.66
References 
Authors
4
3
Name
Order
Citations
PageRank
Yasuhisa Hasegawa145694.62
Tetsuri Ariyama230.66
Kiyotaka Kamibayashi3113.00