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

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

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

4 Scopus citations

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 publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages3784-3789
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

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

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    Artemiadis, P. K., 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 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 3784-3789). [5980071] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980071