Analytical and Experimental Analysis for Position Optimization of a Grasp Assistance Supernumerary Robotic Hand

The reduction of muscular strength in elderly people and patients with neurological movement disorders drastically reduces the hand autonomy for performing several daily activities. This letter presents preliminary results towards a novel supernumerary hand system, i.e., the SoftHand X, that aims to augment the grasping capabilities of people with reduced hand functionalities. The system consists of an active soft robotic hand and a passive gravity compensation mechanism. A primary issue in the design of this supernumerary limb is its placement with respect to the user's arm, due to its profound effects in terms of expected kinematics and dynamics. This letter addresses this problem with a detailed analysis based on theoretical performance indexes and experimental proofs. Starting from 16 different positions, 2 optimal positions are found with multivariate optimization and then they are experimentally evaluated by 11 healthy subjects performing standard clinical tests. Both analytical and experimental results identify these two positions as the closest to those of the human hand, assumed as the optimum. Finally, a questionnaire and subjects’ suggestion reveal one of them strongly favorite.

[1]  R. H. Jebsen,et al.  An objective and standardized test of hand function. , 1969, Archives of physical medicine and rehabilitation.

[2]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[3]  V. Mathiowetz,et al.  Adult norms for the Box and Block Test of manual dexterity. , 1985, The American journal of occupational therapy : official publication of the American Occupational Therapy Association.

[4]  Ching-Lai Hwang,et al.  Fuzzy Multiple Attribute Decision Making - Methods and Applications , 1992, Lecture Notes in Economics and Mathematical Systems.

[5]  Ching-Lai Hwang,et al.  Multiple Objective Decision Making , 1994 .

[6]  Yoky Matsuoka,et al.  An EMG-Controlled Hand Exoskeleton for Natural Pinching , 2004, J. Robotics Mechatronics.

[7]  R.F. Weir,et al.  The Optimal Controller Delay for Myoelectric Prostheses , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[8]  Yasuhisa Hasegawa,et al.  Five-fingered assistive hand with mechanical compliance of human finger , 2008, 2008 IEEE International Conference on Robotics and Automation.

[9]  M. Stoykov,et al.  A review of bilateral training for upper extremity hemiparesis. , 2009, Occupational therapy international.

[10]  J. Liepert.  Evidence-based therapies for upper extremity dysfunction. , 2010, Current opinion in neurology.

[11]  M. Vinciguerra,et al.  Regulation of muscle atrophy in aging and disease. , 2010, Advances in experimental medicine and biology.

[12]  Peter J Kyberd.  The influence of control format and hand design in single axis myoelectric hands: assessment of functionality of prosthetic hands using the Southampton Hand Assessment Procedure , 2011, Prosthetics and orthotics international.

[13]  Moshe Brand,et al.  Redundancy resolution of a human arm for controlling a seven DOF wearable robotic system , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[14]  Wendy A. Rogers,et al.  Understanding the Potential for Robot Assistance for Older Adults in the Home Environment , 2011 .

[15]  Federico Parietti,et al.  Demonstration-based control of supernumerary robotic limbs , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Manuel G. Catalano,et al.  Adaptive synergies for the design and control of the Pisa/IIT SoftHand , 2014, Int. J. Robotics Res..

[17]  Giancarlo Ferrigno,et al.  Functional and usability assessment of a robotic exoskeleton arm to support activities of daily life , 2014, Robotica.

[18]  Nikolaos G. Tsagarakis,et al.  Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand , 2014, IEEE Transactions on Haptics.

[19]  H. Harry Asada,et al.  “Hold-and-manipulate” with a single hand being assisted by wearable extra fingers , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[20]  Christian Cipriani,et al.  Control of a Robotic Hand Using a Tongue Control System—A Prosthesis Application , 2016, IEEE Transactions on Biomedical Engineering.

[21]  Domenico Prattichizzo,et al.  The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients , 2016, IEEE Robotics and Automation Letters.

[22]  Jonathon W. Sensinger,et al.  A third arm — Design of a bypass prosthesis enabling incorporation , 2017, 2017 International Conference on Rehabilitation Robotics (ICORR).

[23]  Giorgio Grioli,et al.  The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots , 2017, IEEE Robotics & Automation Magazine.

[24]  Dario Farina,et al.  Humans Can Integrate Augmented Reality Feedback in Their Sensorimotor Control of a Robotic Hand , 2017, IEEE Transactions on Human-Machine Systems.

[25]  H. Harry Asada,et al.  Independent, voluntary control of extra robotic limbs , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[26]  Nikolaos G. Tsagarakis,et al.  Online Model Based Estimation of Complete Joint Stiffness of Human Arm , 2018, IEEE Robotics and Automation Letters.

[27]  D. J. Bucci,et al.  A Pressure Controlled , Hand-Assistive Exoskeleton for Actuated Pinch and Grasp , .