TY - GEN
T1 - On the effect of human arm manipulability in 3D force tasks
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Artemiadis, Panagiotis K.
AU - Katsiaris, Pantelis T.
AU - Liarokapis, Minas V.
AU - Kyriakopoulos, Kostas J.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84871696195&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84871696195&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980071
DO - 10.1109/ICRA.2011.5980071
M3 - Conference contribution
AN - SCOPUS:84871696195
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3784
EP - 3789
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -