Show simple item record

dc.contributor.authorWu, Faye Y.
dc.contributor.authorAsada, Harry
dc.date.accessioned2014-07-22T13:39:12Z
dc.date.available2014-07-22T13:39:12Z
dc.date.issued2014-07
dc.identifier.issn2330-7668
dc.identifier.issn2330-765X
dc.identifier.urihttp://hdl.handle.net/1721.1/88457
dc.description.abstractA 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.en_US
dc.language.isoen_US
dc.publisherMIT Pressen_US
dc.relation.isversionofhttp://www.roboticsproceedings.org/rss10/p27.htmlen_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceAsadaen_US
dc.titleBio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingersen_US
dc.typeArticleen_US
dc.identifier.citationWu, 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.en_US
dc.contributor.departmentd'Arbeloff Lab for Information Systems and Technologyen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverAsada, Harryen_US
dc.contributor.mitauthorWu, Faye Y.en_US
dc.contributor.mitauthorAsada, Harryen_US
dc.relation.journalRobotics: Science and Systems Xen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.identifier.orcidhttps://orcid.org/0000-0002-8716-1039
dc.identifier.orcidhttps://orcid.org/0000-0003-3155-6223
mit.licenseOPEN_ACCESS_POLICYen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record