A Variable Soft Finger Exoskeleton for Quantifying Fatigue-induced Mechanical Impedance

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Abstract

Interactive (mechanical) impedance and finger fatigues are important topics, which have not been well investigated. To tackle this problem, we developed a soft lightweight (0.25 kg) finger exoskeleton (TIE-EXO) for quantifying interactive impedance and finger fatigue. A resist-as-needed (RAN) controller was used to produce variable resistance in fingers’ exercises. The TIE-EXO’s feedback and RAN’s parameters were applied to quantify the relationship between interactive impedance and finger fatigue. This quantification was validated in the index and middle fingers of three subjects. This validation shows that the RAN control enables the TIE-EXO to produce online resistance adaptations to different subjects and finger fatigue. Moreover, it indicates a variation and invariance in finger impedance control. We argue that the proposed method provides a novel way for investigating interactive impedance and finger fatigue.
OriginalsprogEngelsk
Titel2021 International Conference on Robotics and Automation (ICRA 2021), IEEE
ForlagIEEE
Publikationsdato2021
Sider10347-10352
ISBN (Elektronisk)978-1-7281-9077-8
DOI
StatusUdgivet - 2021
Begivenhed2021 International Conference on Robotics and Automation (ICRA 2021), IEEE. - Xi'an, Kina
Varighed: 30. maj 20215. jun. 2021

Konference

Konference2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.
Land/OmrådeKina
ByXi'an
Periode30/05/202105/06/2021
NavnIEEE International Conference on Robotics and Automation
ISSN1050-4729

Bibliografisk note

peer review, 2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.

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