Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype

被引：0

作者：

Kuehn, Johannes ^{[1
]}

Ringwald, Johannes ^{[1
]}

Schappler, Moritz ^{[1
]}

Johannsmeier, Lars ^{[1
]}

Haddadin, Sami ^{[1
]}

机构：

[1] TUM, Munich Sch Robot & Machine Intelligence, Chair Robot Sci & Syst Intelligence, Hessstr 134, D-80797 Munich, Germany

来源：

2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2019年

基金：

欧盟地平线“2020”;

关键词：

HAND; EMG;

D O I：

10.1109/icra.2019.8794332

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the first robot-based prototype of a semi-autonomous upper-limb exoprosthesis is introduced, unifying exoskeletons and prostheses [1]. A central goal of this work is to minimize unnecessary interaction forces on the residual limb by compensating gravity effects via a upper body grounded exoskeleton. Furthermore, the exoskeleton provides the residual limb's kinematic data that allows to design more intelligent coordinated control concepts. The soft-robotics design of a prototype consisting of a transhumeral prosthesis and a robot-based exoskeleton substitute is outlined. For this class of hybrid systems a human embodied dynamics model and semi-autonomous coordinated motion strategies are derived. Here, in contrast to established standard sequential strategies all joints are moved simultaneously according to a desired task. In combination with an app-based programming framework the strategy goals are set either user-based via kinesthetic teaching or autonomously via 3D visual perception. This enables the user to execute tasks faster and more intuitive. First experimental evaluations show promising performance with a healthy subject.

引用

页码：9180 / 9186

页数：7