A novel wearable foot interface for controlling robotic hands

Author

Carrozza, M.C. ; Persichetti, A. ; Laschi, C. ; Vecchi, F. ; Vacalebri, P. ; Tamburrelli, V. ; Lazzarini, R. ; Dario, P.

Author_Institution

Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant´´ Anna, Pisa, Italy

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

2010

Lastpage

2015

Abstract

This paper presents an experimental investigation on a novel interface for high level control of robotic hands, based on selected foot movements. A prototype has been developed that integrates 4 sensitive areas, battery, and electronics for data acquisition and wireless transmission into a wearable insole. The prototype foot interface has been experimentally validated in the control of a robotic hand prosthesis. Comparative experimental trials were conducted with 10 able-bodied subjects, with both the foot interface and an EMG-based control, which represents the most advanced interface currently available in clinical implants for amputees. The results confirmed the effectiveness of the foot interface in the control of the hand prosthesis and showed a significant decrease in required adaptation and learning from the user´s side.

Keywords

man-machine systems; medical robotics; motion control; prosthetics; EMG-based control; data acquisition; foot contact sensor; foot movement; human-robot interaction; robotic hand prosthesis; robotic hands control; wearable foot interface; wireless transmission; Batteries; Data acquisition; Foot; Implants; Level control; Prosthetics; Prototypes; Robot control; Robot sensing systems; Wireless sensor networks; Human-Robot Interaction; foot contact sensors; wearable foot interface;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545502

Filename

1545502