The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task

Author

Höppner, Hannes ; Lakatos, Dominic ; Urbanek, Holger ; Castellini, Claudio ; van der Smagt, Patrick

Author_Institution

German Aerosp. Center (DLR), Inst. of Robot. & Mechatron., Oberpfaffenhofen, Germany

fYear

2011

fDate

9-13 May 2011

Firstpage

3312

Lastpage

3316

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.

Keywords

biomechanics; elastic constants; grippers; patient rehabilitation; physiology; prosthetics; bio-inspired robotics; continuous grasp impedance measurement methods; finger stiffness; graded force task; grasp perturbator; grip force; handheld device; human grasp stiffness calibration; human impedance estimation range; impedance-controlled telesurgery; in vivo human grasp impedance; intrinsic impedance; limb prosthetics; linear relationship; physiological experiment; physiology; rehabilitation robotics; static identification method; Force; Force measurement; Humans; Impedance; Indexes; Robots; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980217

Filename

5980217