RT Conference Proceedings
T1 Human-Arm Roll Estimation in Underactuated Grippers with Proprioceptive Feedback
A1 Gandarias, Juan Manuel
A1 Gómez-de-Gabriel, Jesús Manuel
A1 Pastor-Martín, Francisco
A1 Muñoz-Ramírez, Antonio José
K1 Robótica
AB A method for the estimation of the roll angle of a human forearm, when grasped by a robot with an underactuated gripper, using proprioceptive information only, is being developed.Knowing the angle around the forearm's axis (i.e. roll angle) is key for the safe manipulation of the human limb and biomedical sensor placement among others.The adaptive gripper has two independent underactuated fingers with two phalanges and a single actuator each. The final joint position of the gripper provides information related to the shape of the grasped object without the need for external contact or force sensors.Regression methods to estimate the roll angle of the grasping have been trained with forearm grasping information from different humans at each angular position. The results show that it is possible to accurately estimate the rolling angle of the human arm, not only for known people but also for humans for which haven't been previously trained.
YR 2019
FD 2019-09-11
LK https://hdl.handle.net/10630/18303
UL https://hdl.handle.net/10630/18303
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.Beca European Commission under grant agreement BES-2016-078237
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 11 abr 2026