2026-06-03T03:58:44Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/190202026-02-03T11:28:35Zcom_10630_2254col_10630_37953
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Pastor-Martín, Francisco
author
Gandarias, Juan Manuel
author
García-Cerezo, Alfonso José
author
Muñoz-Ramírez, Antonio José
author
Gómez-de-Gabriel, Jesús Manuel
2019-12-12T07:32:16Z
2019-12-12T07:32:16Z
2019
https://hdl.handle.net/10630/19020
In this paper, a method for the estimation of the angle of grasping of a human forearm, when grasped by a robot with an underactuated gripper, using proprioceptive information only, is presented.
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, for trained and unknown people.
spa
Robótica
Grasping Angle Estimation of Human Forearm with Underactuated Grippers Using Proprioceptive Feedback
journal article
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URL
https://riuma.uma.es/bitstreams/ae4aa57f-8f25-460d-ad4c-ef648bbd1e1b/download
File
MD5
296f50ce0c77c09ba6898547baae2b54
1717429
application/pdf
Documentorobot2019Riuma.pdf