Details
| Original language | English |
|---|---|
| Title of host publication | 2019 International Conference on Robotics and Automation (ICRA) |
| Pages | 9180-9186 |
| Number of pages | 7 |
| ISBN (electronic) | 978-1-5386-6027-0, 978-1-5386-6026-3 |
| Publication status | Published - 2019 |
| Externally published | Yes |
| Event | 2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
| ISSN (electronic) | 2577-087X |
Abstract
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Control and Systems Engineering
Sustainable Development Goals
Cite this
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2019 International Conference on Robotics and Automation (ICRA). 2019. p. 9180-9186 (Proceedings - IEEE International Conference on Robotics and Automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Towards semi-autonomous and soft-robotics enabled upper-limb exoprosthetics: First concepts and robot-based emulation prototype
AU - Kuhn, Johannes
AU - Ringwald, Johannes
AU - Schappler, Moritz
AU - Johannsmeier, Lars
AU - Haddadin, Sami
N1 - Funding information: The authors greatly acknowledge the funding of this work by the Alfried Krupp von Bohlen und Halbach Foundation and the European Union’s Horizon 2020 grant “SOFTPRO” (no. 688857). The authors want to thank undergraduate students J. Jankowski, A. Kuhn and L. Jürgens for supporting this work.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071503507&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8794332
DO - 10.1109/ICRA.2019.8794332
M3 - Conference contribution
SN - 978-1-5386-8176-3
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9180
EP - 9186
BT - 2019 International Conference on Robotics and Automation (ICRA)
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -