On the effect of human arm manipulability in 3D force tasks: Towards force-controlled exoskeletons

Panagiotis Artemiadis, Pantelis T. Katsiaris, Minas V. Liarokapis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Coupling the human upper limbs with robotic devices is gaining increasing attention in the last decade, due to the emerging applications in orthotics, prosthetics and rehabilitation devices. In the cases of every-day life tasks, force exertion and generally interaction with the environment is absolutely critical. Therefore, the decoding of the user's force exertion intention is important for the robust control of orthotic robots (e.g. arm exoskeletons). In this paper, the human arm manipulability is analyzed and its effect on the recruitment of the musculo-skeletal system is explored. It was found that the recruitment and activation of muscles is strongly affected by arm manipulability. Based on this finding, a decoding method is built in order to estimate force exerted in the three-dimensional (3D) task space from surface ElectroMyoGraphic (EMG) signals, recorded from muscles of the arm. The method is using the manipulability information for the given force task. Experimental results were verified in various arm configurations with two subjects.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3784-3789
Number of pages6
DOIs
StatePublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

Fingerprint

Orthotics
Decoding
Muscle
Musculoskeletal system
Robust control
Prosthetics
Patient rehabilitation
Robotics
Chemical activation
Robots
Exoskeleton (Robotics)

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Artemiadis, P., Katsiaris, P. T., Liarokapis, M. V., & Kyriakopoulos, K. J. (2011). On the effect of human arm manipulability in 3D force tasks: Towards force-controlled exoskeletons. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3784-3789). [5980071] https://doi.org/10.1109/ICRA.2011.5980071

On the effect of human arm manipulability in 3D force tasks : Towards force-controlled exoskeletons. / Artemiadis, Panagiotis; Katsiaris, Pantelis T.; Liarokapis, Minas V.; Kyriakopoulos, Kostas J.

Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 3784-3789 5980071.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Artemiadis, P, Katsiaris, PT, Liarokapis, MV & Kyriakopoulos, KJ 2011, On the effect of human arm manipulability in 3D force tasks: Towards force-controlled exoskeletons. in Proceedings - IEEE International Conference on Robotics and Automation., 5980071, pp. 3784-3789, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5980071
Artemiadis P, Katsiaris PT, Liarokapis MV, Kyriakopoulos KJ. On the effect of human arm manipulability in 3D force tasks: Towards force-controlled exoskeletons. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 3784-3789. 5980071 https://doi.org/10.1109/ICRA.2011.5980071
Artemiadis, Panagiotis ; Katsiaris, Pantelis T. ; Liarokapis, Minas V. ; Kyriakopoulos, Kostas J. / On the effect of human arm manipulability in 3D force tasks : Towards force-controlled exoskeletons. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 3784-3789
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