The grasp perturbator: Calibrating human grasp stiffness during a graded force task
Höppner H, Lakatos D, Urbanek H, Castellini C, Van Der Smagt P (2011)
Publication Type: Conference contribution
Publication year: 2011
Journal
Pages Range: 3312-3316
Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation
Event location: CHN
ISBN: 9781612843865
DOI: 10.1109/ICRA.2011.5980217
Abstract
In this paper we present a novel and simple handheld device for measuring in vivo human grasp impedance. The measurement method is based on a static identification method and intrinsic impedance is identified inbetween 25 ms. Using this device it is possbile to develop continuous grasp impedance measurement methods as it is an active research topic in physiology as well as in robotics, especially since nowadays (bio-inspired) robotics can be impedance-controlled. Potential applications of human impedance estimation range from impedance-controlled telesurgery to limb prosthetics and rehabilitation robotics. We validate the device through a physiological experiment in which the device is used to show a linear relationship between finger stiffness and grip force. © 2011 IEEE.
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Germany (DE)How to cite
APA:
Höppner, H., Lakatos, D., Urbanek, H., Castellini, C., & Van Der Smagt, P. (2011). The grasp perturbator: Calibrating human grasp stiffness during a graded force task. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3312-3316). CHN.
MLA:
Höppner, Hannes, et al. "The grasp perturbator: Calibrating human grasp stiffness during a graded force task." Proceedings of the 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, CHN 2011. 3312-3316.
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