TY - GEN
T1 - A Variable Soft Finger Exoskeleton for Quantifying Fatigue-induced Mechanical Impedance
AU - Xiong, Xiaofeng
AU - Manoonpong, Poramate
N1 - peer review, 2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
U2 - 10.1109/ICRA48506.2021.9562118
DO - 10.1109/ICRA48506.2021.9562118
M3 - Article in proceedings
T3 - IEEE International Conference on Robotics and Automation
SP - 10347
EP - 10352
BT - 2021 International Conference on Robotics and Automation (ICRA 2021), IEEE
PB - IEEE
T2 - 2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.
Y2 - 30 May 2021 through 5 June 2021
ER -