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

Xiaofeng Xiong*, Poramate Manoonpong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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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.
Original languageEnglish
Title of host publication2021 International Conference on Robotics and Automation (ICRA 2021), IEEE
PublisherIEEE
Publication date2021
Pages10347-10352
ISBN (Electronic)978-1-7281-9077-8
DOIs
Publication statusPublished - 2021
Event2021 International Conference on Robotics and Automation (ICRA 2021), IEEE. - Xi'an, China
Duration: 30. May 20215. Jun 2021

Conference

Conference2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.
Country/TerritoryChina
CityXi'an
Period30/05/202105/06/2021
SeriesI E E E International Conference on Robotics and Automation
ISSN2152-4092

Bibliographical note

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

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