Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements
Recent studies of human arm movements have suggested that the control of stiffness may be important both for maintaining stability and for achieving differences in movement accuracy. Several studies in the robotic field demonstrated that grasp stiffness is useful for modelling and controlling manipu...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2009-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320902920567 |
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| author | Angelo Emanuele Fiorilla Nikos G. Tsagarakis Francesco Nori Giulio Sandini |
| author_facet | Angelo Emanuele Fiorilla Nikos G. Tsagarakis Francesco Nori Giulio Sandini |
| author_sort | Angelo Emanuele Fiorilla |
| collection | DOAJ |
| description | Recent studies of human arm movements have suggested that the control of stiffness may be important both for maintaining stability and for achieving differences in movement accuracy. Several studies in the robotic field demonstrated that grasp stiffness is useful for modelling and controlling manipulators but, even though it is accredited that having models of the human finger impedance would be very desirable for the control of anthropomorphous robot's hands, relatively few studies have focused on finger and hand stiffness. To allow the measurement of such entities at the finger level, an appropriate device capable of applying fast force transients while at the same time be able to monitor the finger movements is required. The work presented in this paper is a very detailed report about the design of a new hand exoskeleton system that will be used in our future works to investigate the finger stiffness range in different grasping postures and conditions. |
| format | Article |
| id | doaj-art-ca6b7626a2df44288aa4cd5f9a68a183 |
| institution | OA Journals |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2009-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-ca6b7626a2df44288aa4cd5f9a68a1832025-08-20T02:19:47ZengWileyApplied Bionics and Biomechanics1176-23221754-21032009-01-016221722810.1080/11762320902920567Design of a 2-Finger Hand Exoskeleton for Finger Stiffness MeasurementsAngelo Emanuele Fiorilla0Nikos G. Tsagarakis1Francesco Nori2Giulio Sandini3DIST – University of Genova, Genova, ItalyItalian Institute of Technology (IIT), Genova, ItalyItalian Institute of Technology (IIT), Genova, ItalyItalian Institute of Technology (IIT), Genova, ItalyRecent studies of human arm movements have suggested that the control of stiffness may be important both for maintaining stability and for achieving differences in movement accuracy. Several studies in the robotic field demonstrated that grasp stiffness is useful for modelling and controlling manipulators but, even though it is accredited that having models of the human finger impedance would be very desirable for the control of anthropomorphous robot's hands, relatively few studies have focused on finger and hand stiffness. To allow the measurement of such entities at the finger level, an appropriate device capable of applying fast force transients while at the same time be able to monitor the finger movements is required. The work presented in this paper is a very detailed report about the design of a new hand exoskeleton system that will be used in our future works to investigate the finger stiffness range in different grasping postures and conditions.http://dx.doi.org/10.1080/11762320902920567 |
| spellingShingle | Angelo Emanuele Fiorilla Nikos G. Tsagarakis Francesco Nori Giulio Sandini Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements Applied Bionics and Biomechanics |
| title | Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements |
| title_full | Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements |
| title_fullStr | Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements |
| title_full_unstemmed | Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements |
| title_short | Design of a 2-Finger Hand Exoskeleton for Finger Stiffness Measurements |
| title_sort | design of a 2 finger hand exoskeleton for finger stiffness measurements |
| url | http://dx.doi.org/10.1080/11762320902920567 |
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