テノデーシス把持エミュレータ：手首駆動型装具制御の運動学的評価
Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control
健常者に装着可能な手首駆動型装具エミュレータを開発し、手首拘束による代償動作を定量化するとともに、モータ補助とのハイブリッド制御の可能性を検討した研究。
著者: Erin Y. Chang, Raghid Mardini, Andrew I. W. McPherson, Yuri Gloumakov, Hannah S. Stuart
分類: cs.RO
原文アブストラクト
Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for the investigation of tenodesis grasping in subjects with unimpaired hand function. Subjects perform a series of grasp-and-release tasks in order to compare normal (test control) and constrained wrist-driven modes, showing significant compensation as a result of the constraint. A motor-augmented mode is also compared against traditional wrist-driven operation, to explore the potential role of hybrid human-robot control. We find that both the passive wrist-driven and motor-augmented modes fulfill different roles throughout various tasks tested. Thus, we conclude that a flexible control scheme that can alter intervention based on the task at hand holds the potential to reduce compensation in future work.
