Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers
Name
Faye-Asada-SR-Fingers-RSS-7-14.pdf
Size
1.47 MB
Format
Adobe PDF
Checksum (MD5)
e47907fa07debf487daf70ad6fc11208
Author(s)
Wu, Faye Y
Asada, Haruhiko
Date Issued
July 2014
Journal
Robotics: Science and Systems X
Publisher
MIT Press
Citation
Wu, Faye Y. and Harry Asada. "Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers." in Robotics: Science and Systems X, July 12-16, 2014, University of California, Berkeley, USA.
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
http://www.roboticsproceedings.org/rss10/p27.html
