Supernumerary Robotic Fingers: An Alternative Upper-Limb Prosthesis
Name
v002t16a009-dscc2014-6017.pdf
Size
1.19 MB
Format
Adobe PDF
Checksum (MD5)
464a3001837a201ccf7615911329b337
Author(s)
Wu, Faye Y
Asada, Haruhiko
Date Issued
October 2012
Journal
Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
Publisher
ASME International
Citation
Wu, Faye, and Harry Asada. “Supernumerary Robotic Fingers: An Alternative Upper-Limb Prosthesis.” Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, 22-24 October, 2012, San Antonio, Texas, ASME, 2014, p. V002T16A009. © 2014 by ASME
Version
Final published version
Abstract
Conventional prosthetic devices substitute lost human limbs with mechanical proxies to enable amputees perform daily chores. We present an alternative app roach that may replace or supp lement traditional upper-limb prostheses by utilizing and enhancing the functionality of the remaining healthy limb with a new type of wrist-mounted robot: the Supernumerary Robotic (SR) Fingers. These SR Fingers are naturally and implicitly coordinated with the motion of the human fingers to provide assistance in a variety of prehensile tasks that are usually too difficult to carry out with a single hand, such as grasping a large/oddly shaped object or taking the lid off a jar. A novel control algorithm, termed "Bio-Artificial Synergies", is developed so the SR Fingers can share a work load and adapt to diverse task conditions just like the real fingers do. 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 Regression (PLSR) and tested on the SR Finger prototype on a number of common tasks to demonstrate the usefulness and effectiveness of this new class of prosthetic device. Topics: Prostheses, Robotics
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/DSCC2014-6017
