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EMG-driven machine learning control of a soft glove for grasping assistance and rehabilitation

In the field of rehabilitation robotics, transparent, precise and intuitive control of hand exoskeletons still represents a substantial challenge. In particular, the use of compliant systems often leads to a trade-off between lightness and material flexibility, and control precision. In this letter,...

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Hauptverfasser: Sierotowicz, Marek (VerfasserIn) , Lotti, Nicola (VerfasserIn) , Nell, Laura (VerfasserIn) , Missiroli, Francesco (VerfasserIn) , Alicea, Ryan (VerfasserIn) , Zhang, Xiaohui (VerfasserIn) , Xiloyannis, Michele (VerfasserIn) , Rupp, Rüdiger (VerfasserIn) , Papp, Emese (VerfasserIn) , Krzywinski, Jens (VerfasserIn) , Castellini, Claudio (VerfasserIn) , Masia, Lorenzo (VerfasserIn)
Dokumenttyp: Article (Journal)
Sprache:Englisch
Veröffentlicht: 2022
In: IEEE Robotics and automation letters
Year: 2022, Jahrgang: 7, Heft: 2, Pages: 1566-1573
ISSN:2377-3766
DOI:10.1109/LRA.2021.3140055
Online-Zugang:Verlag, lizenzpflichtig, Volltext: https://doi.org/10.1109/LRA.2021.3140055
Volltext
Verfasserangaben:Marek Sierotowicz, Nicola Lotti, Laura Nell, Francesco Missiroli, Ryan Alicea, Xiaohui Zhang, Michele Xiloyannis, Rüdiger Rupp, Emese Papp, Jens Krzywinski, Claudio Castellini, and Lorenzo Masia
Beschreibung
Zusammenfassung:In the field of rehabilitation robotics, transparent, precise and intuitive control of hand exoskeletons still represents a substantial challenge. In particular, the use of compliant systems often leads to a trade-off between lightness and material flexibility, and control precision. In this letter, we present a compliant, actuated glove with a control scheme to detect the user's motion intent, which is estimated by a machine learning algorithm based on muscle activity. Six healthy study participants used the glove in three assistance conditions during a force reaching task. The results suggest that active assistance from the glove can aid the user, reducing the muscular activity needed to attain a medium-high grasp force, and that closed-loop control of a compliant assistive glove can successfully he implemented by means of a machine learning algorithm.
Beschreibung:Gesehen am 15.02.2022
Beschreibung:Online Resource
ISSN:2377-3766
DOI:10.1109/LRA.2021.3140055

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