An object-based mapping algorithm to control wearable robotic extra-fingers

One of the new targets of wearable robots is not to enhance the lift strength far above human capability by wearing a bulky robot, but to support human capability within its range by wearing lightweight and compact robots. A new approach regarding robotic extra-fingers is presented here. In particular, an object-based mapping algorithm is proposed to control the robotic extra-fingers by interpreting the whole or a part of the hand motion in grasping and manipulation tasks. As a case study, the model and control of an additional robotic finger is presented. The robotic finger has been placed on the wrist opposite to the hand palm. This solution enlarges the hand workspace, increasing the grasp capability of the user. The proposed mapping algorithm do not require the human operator to activate explicit commands. Rather, the motion of the extra-fingers is connected to the human hand so that the user can perceive the robotic fingers as an extension of his body.

[1]  T J Armstrong,et al.  A kinematic model of the human hand to evaluate its prehensile capabilities. , 1992, Journal of biomechanics.

[2]  Antonio Bicchi,et al.  Force distribution in multiple whole-limb manipulation , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[4]  Antonio Bicchi,et al.  On the Closure Properties of Robotic Grasping , 1995, Int. J. Robotics Res..

[5]  Il Hong Suh,et al.  Optimal grasping based on non-dimensionalized performance indices , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[6]  Toshio Fukuda,et al.  Neuro-fuzzy control of a robotic exoskeleton with EMG signals , 2004, IEEE Transactions on Fuzzy Systems.

[7]  Marcia K. O'Malley,et al.  Design of a Haptic Arm Exoskeleton for Training and Rehabilitation , 2004 .

[8]  Bryan Buchholz,et al.  ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion--Part II: shoulder, elbow, wrist and hand. , 2005, Journal of biomechanics.

[9]  S. Lederman,et al.  Human Hand Function , 2006 .

[10]  H. Kazerooni,et al.  Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX) , 2006, IEEE/ASME Transactions on Mechatronics.

[11]  Gregory S. Chirikjian,et al.  Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics] , 2007, IEEE Robotics & Automation Magazine.

[12]  Gregory S. Chirikjian,et al.  Modular Self-Reconfigurable Robot Systems , 2007 .

[13]  Jose L Pons,et al.  Wearable Robots: Biomechatronic Exoskeletons , 2008 .

[14]  Yacine Amirat,et al.  Towards intelligent lower limb wearable robots: Challenges and perspectives - State of the art , 2009, 2008 IEEE International Conference on Robotics and Biomimetics.

[15]  Antonio Bicchi,et al.  On the role of hand synergies in the optimal choice of grasping forces , 2010, Auton. Robots.

[16]  F. Sanfilippo,et al.  Efficient modular grasping: An iterative approach , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[17]  Monica Malvezzi,et al.  An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics , 2012, Robotics: Science and Systems.

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

[19]  Antonio Bicchi,et al.  SynGrasp: A MATLAB toolbox for grasp analysis of human and robotic hands , 2013, 2013 IEEE International Conference on Robotics and Automation.

[20]  H. Harry Asada,et al.  Dynamic analysis and state estimation for wearable robotic limbs subject to human-induced disturbances , 2013, 2013 IEEE International Conference on Robotics and Automation.

[21]  Antonio Bicchi,et al.  On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies , 2013, IEEE Transactions on Robotics.

[22]  Monica Malvezzi,et al.  Mapping Synergies From Human to Robotic Hands With Dissimilar Kinematics: An Approach in the Object Domain , 2013, IEEE Transactions on Robotics.

[23]  Monica Malvezzi,et al.  On the use of homogeneous transformations to map human hand movements onto robotic hands , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).