Haptic devices for studies on human grasp and rehabilitation
This book presents a new set of devices for accurate investigation of human finger stiffness and force distribution in grasping tasks. The ambitious goal of this research is twofold, the first is to advance the state of the art on human strategies in manipulation tasks and provide tools to assess re...
| Main Author: | Altobelli, Alessandro. |
|---|---|
| Other Authors: | SpringerLink (Online service) |
| Format: | eBook |
| Language: | English |
| Published: |
Cham, Switzerland :
Springer,
2016.
Cham, Switzerland : 2016. |
| Physical Description: |
1 online resource (89 pages). |
| Series: |
Springer series on touch and haptic systems.
|
| Subjects: |
Table of Contents:
- Series Editors' Foreword; Preface; Main Research Arguments; Book Structure; Acknowledgements; Contents; 1 Introduction; References; 2 Human Hand Motor Control Studies; 2.1 Hand Control in Pre-grasp Phase; 2.2 Grasp Force Distribution; 2.3 Muscle Activity; 2.4 Impedance Control; 2.5 Outstanding Aspects in Grasping Task ; References; Part I Devices for Human Grasp Studies; 3 Sensorized Object Approach; 3.1 Three-Digit Grasp Haptic Device with Variable Contact Stiffness for Rehabilitation and Human Grasping Studies; 3.1.1 Materials and Methods; 3.1.2 Validation and Results.
- 3.2 An Instrumented Manipulandum for Human Grasping Studies3.2.1 Materials and Methods; 3.2.2 Contact Point Estimation; 3.2.3 F/T Compensation; 3.2.4 Experiments on Contact Position; 3.2.5 Validation on Grasping and Results; 3.3 Neuroscientific Studies and Applications; 3.4 Conclusions; References; 4 Wearable Approach: ThimbleSense, a Fingertip-Wearable Tactile Sensor for Grasp Analysis; 4.1 Concept and Implementation; 4.2 Weight Bias Compensation; 4.3 Validation and Results; 4.3.1 Experiments 1; 4.3.2 Experiments 2; 4.4 Conclusion; References.
- Part II Studies and Experiments on Three Digit Grasp5 Electromyographic Mapping of Finger Stiffness in Tripod Grasp; 5.1 Study Design; 5.1.1 Sensorized Object and Experimental Setup; 5.1.2 Protocol; 5.2 Data Analysis; 5.3 Results; 5.4 Discussion; 5.5 Conclusion; References; 6 Effect of Homogenous Object Stiffness on Tri-Digit Proprieties; 6.1 Materials and Methods; 6.1.1 Study Design; 6.1.2 Sensorized Object and Experimental Setup; 6.1.3 Protocol; 6.2 Data Analysis; 6.3 Results; 6.4 Discussion and Conclusions; References; Conclusions.