HapticV1, PubMed, Corpus, bibRecord, 000601

A method to study precision grip control in viscoelastic force fields using a robotic gripper.

Identifieur interne : 000601 ( PubMed/Corpus ); précédent : 000600; suivant : 000602

A method to study precision grip control in viscoelastic force fields using a robotic gripper.

Auteurs : Olivier Lambercy ; Jean-Claude Metzger ; Marco Santello ; Roger Gassert

Source :

IEEE transactions on bio-medical engineering [ 1558-2531 ] ; 2015.

RBID : pubmed:25014953

English descriptors

KwdEn :
- Adult, Elastic Modulus (physiology), Equipment Design, Equipment Failure Analysis, Feedback, Physiological (physiology), Female, Hand Strength (physiology), Humans, Male, Man-Machine Systems, Manometry (instrumentation), Physical Examination (instrumentation), Physical Stimulation (instrumentation), Reproducibility of Results, Robotics (instrumentation), Robotics (methods), Sensitivity and Specificity, Stress, Mechanical, Task Performance and Analysis, Viscosity.
MESH :
- instrumentation : Manometry, Physical Examination, Physical Stimulation, Robotics.
- methods : Robotics.
- physiology : Elastic Modulus, Feedback, Physiological, Hand Strength.
- Adult, Equipment Design, Equipment Failure Analysis, Female, Humans, Male, Man-Machine Systems, Reproducibility of Results, Sensitivity and Specificity, Stress, Mechanical, Task Performance and Analysis, Viscosity.

Abstract

Instrumented objects and multipurpose haptic displays have commonly been used to investigate sensorimotor control of grasping and manipulation. A major limitation of these devices, however, is the extent to which the experimenter can vary the interaction dynamics to fully probe sensorimotor control mechanisms. We propose a novel method to study precision grip control using a grounded robotic gripper with two moving, mechanically coupled finger pads instrumented with force sensors. The device is capable of stably rendering virtual mechanical properties with a wide dynamic range of achievable impedances. Eight viscoelastic force fields with different combinations of stiffness and damping parameters were implemented, and tested on eight healthy subjects performing 30 consecutive repetitions of a grasp, hold, and release task with time and position constraints. Rates of thumb and finger force were found to be highly correlated (r>0.9) during grasping, revealing that, despite the mechanical coupling of the two finger pads, subjects performed grasping movements in a physiological fashion. Subjects quickly adapted to the virtual dynamics (within seven trials), but, depending on the presented force field condition, used different control strategies to correctly perform the task. The proof of principle presented in this paper underscores the potential of such a one-degree-of-freedom robotic gripper to study neural control of grasping, and to provide novel insights on sensorimotor control mechanisms.

DOI: 10.1109/TBME.2014.2336095
PubMed: 25014953

Links to Exploration step

pubmed:25014953

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A method to study precision grip control in viscoelastic force fields using a robotic gripper.</title>
<author><name sortKey="Lambercy, Olivier" sort="Lambercy, Olivier" uniqKey="Lambercy O" first="Olivier" last="Lambercy">Olivier Lambercy</name>
</author>
<author><name sortKey="Metzger, Jean Claude" sort="Metzger, Jean Claude" uniqKey="Metzger J" first="Jean-Claude" last="Metzger">Jean-Claude Metzger</name>
</author>
<author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name>
</author>
<author><name sortKey="Gassert, Roger" sort="Gassert, Roger" uniqKey="Gassert R" first="Roger" last="Gassert">Roger Gassert</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2015">2015</date>
<idno type="doi">10.1109/TBME.2014.2336095</idno>
<idno type="RBID">pubmed:25014953</idno>
<idno type="pmid">25014953</idno>
<idno type="wicri:Area/PubMed/Corpus">000601</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">A method to study precision grip control in viscoelastic force fields using a robotic gripper.</title>
<author><name sortKey="Lambercy, Olivier" sort="Lambercy, Olivier" uniqKey="Lambercy O" first="Olivier" last="Lambercy">Olivier Lambercy</name>
</author>
<author><name sortKey="Metzger, Jean Claude" sort="Metzger, Jean Claude" uniqKey="Metzger J" first="Jean-Claude" last="Metzger">Jean-Claude Metzger</name>
</author>
<author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name>
</author>
<author><name sortKey="Gassert, Roger" sort="Gassert, Roger" uniqKey="Gassert R" first="Roger" last="Gassert">Roger Gassert</name>
</author>
</analytic>
<series><title level="j">IEEE transactions on bio-medical engineering</title>
<idno type="eISSN">1558-2531</idno>
<imprint><date when="2015" type="published">2015</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term>
<term>Elastic Modulus (physiology)</term>
<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Feedback, Physiological (physiology)</term>
<term>Female</term>
<term>Hand Strength (physiology)</term>
<term>Humans</term>
<term>Male</term>
<term>Man-Machine Systems</term>
<term>Manometry (instrumentation)</term>
<term>Physical Examination (instrumentation)</term>
<term>Physical Stimulation (instrumentation)</term>
<term>Reproducibility of Results</term>
<term>Robotics (instrumentation)</term>
<term>Robotics (methods)</term>
<term>Sensitivity and Specificity</term>
<term>Stress, Mechanical</term>
<term>Task Performance and Analysis</term>
<term>Viscosity</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Manometry</term>
<term>Physical Examination</term>
<term>Physical Stimulation</term>
<term>Robotics</term>
</keywords>
<keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Robotics</term>
</keywords>
<keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Elastic Modulus</term>
<term>Feedback, Physiological</term>
<term>Hand Strength</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Adult</term>
<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Female</term>
<term>Humans</term>
<term>Male</term>
<term>Man-Machine Systems</term>
<term>Reproducibility of Results</term>
<term>Sensitivity and Specificity</term>
<term>Stress, Mechanical</term>
<term>Task Performance and Analysis</term>
<term>Viscosity</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Instrumented objects and multipurpose haptic displays have commonly been used to investigate sensorimotor control of grasping and manipulation. A major limitation of these devices, however, is the extent to which the experimenter can vary the interaction dynamics to fully probe sensorimotor control mechanisms. We propose a novel method to study precision grip control using a grounded robotic gripper with two moving, mechanically coupled finger pads instrumented with force sensors. The device is capable of stably rendering virtual mechanical properties with a wide dynamic range of achievable impedances. Eight viscoelastic force fields with different combinations of stiffness and damping parameters were implemented, and tested on eight healthy subjects performing 30 consecutive repetitions of a grasp, hold, and release task with time and position constraints. Rates of thumb and finger force were found to be highly correlated (r>0.9) during grasping, revealing that, despite the mechanical coupling of the two finger pads, subjects performed grasping movements in a physiological fashion. Subjects quickly adapted to the virtual dynamics (within seven trials), but, depending on the presented force field condition, used different control strategies to correctly perform the task. The proof of principle presented in this paper underscores the potential of such a one-degree-of-freedom robotic gripper to study neural control of grasping, and to provide novel insights on sensorimotor control mechanisms.</div>
</front>
</TEI>
<pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">25014953</PMID>
<DateCreated><Year>2015</Year>
<Month>02</Month>
<Day>12</Day>
</DateCreated>
<DateCompleted><Year>2015</Year>
<Month>09</Month>
<Day>08</Day>
</DateCompleted>
<Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1558-2531</ISSN>
<JournalIssue CitedMedium="Internet"><Volume>62</Volume>
<Issue>1</Issue>
<PubDate><Year>2015</Year>
<Month>Jan</Month>
</PubDate>
</JournalIssue>
<Title>IEEE transactions on bio-medical engineering</Title>
<ISOAbbreviation>IEEE Trans Biomed Eng</ISOAbbreviation>
</Journal>
<ArticleTitle>A method to study precision grip control in viscoelastic force fields using a robotic gripper.</ArticleTitle>
<Pagination><MedlinePgn>39-48</MedlinePgn>
</Pagination>
<Abstract><AbstractText>Instrumented objects and multipurpose haptic displays have commonly been used to investigate sensorimotor control of grasping and manipulation. A major limitation of these devices, however, is the extent to which the experimenter can vary the interaction dynamics to fully probe sensorimotor control mechanisms. We propose a novel method to study precision grip control using a grounded robotic gripper with two moving, mechanically coupled finger pads instrumented with force sensors. The device is capable of stably rendering virtual mechanical properties with a wide dynamic range of achievable impedances. Eight viscoelastic force fields with different combinations of stiffness and damping parameters were implemented, and tested on eight healthy subjects performing 30 consecutive repetitions of a grasp, hold, and release task with time and position constraints. Rates of thumb and finger force were found to be highly correlated (r>0.9) during grasping, revealing that, despite the mechanical coupling of the two finger pads, subjects performed grasping movements in a physiological fashion. Subjects quickly adapted to the virtual dynamics (within seven trials), but, depending on the presented force field condition, used different control strategies to correctly perform the task. The proof of principle presented in this paper underscores the potential of such a one-degree-of-freedom robotic gripper to study neural control of grasping, and to provide novel insights on sensorimotor control mechanisms.</AbstractText>
</Abstract>
<AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Lambercy</LastName>
<ForeName>Olivier</ForeName>
<Initials>O</Initials>
</Author>
<Author ValidYN="Y"><LastName>Metzger</LastName>
<ForeName>Jean-Claude</ForeName>
<Initials>JC</Initials>
</Author>
<Author ValidYN="Y"><LastName>Santello</LastName>
<ForeName>Marco</ForeName>
<Initials>M</Initials>
</Author>
<Author ValidYN="Y"><LastName>Gassert</LastName>
<ForeName>Roger</ForeName>
<Initials>R</Initials>
</Author>
</AuthorList>
<Language>eng</Language>
<PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType>
<PublicationType UI="D016449">Randomized Controlled Trial</PublicationType>
<PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType>
<PublicationType UI="D013486">Research Support, U.S. Gov't, Non-P.H.S.</PublicationType>
</PublicationTypeList>
</Article>
<MedlineJournalInfo><Country>United States</Country>
<MedlineTA>IEEE Trans Biomed Eng</MedlineTA>
<NlmUniqueID>0012737</NlmUniqueID>
<ISSNLinking>0018-9294</ISSNLinking>
</MedlineJournalInfo>
<CitationSubset>IM</CitationSubset>
<MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000328">Adult</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D055119">Elastic Modulus</DescriptorName>
<QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D019544">Equipment Failure Analysis</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D025461">Feedback, Physiological</DescriptorName>
<QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D005260">Female</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D018737">Hand Strength</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D008297">Male</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="Y" UI="D008328">Man-Machine Systems</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D008365">Manometry</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D010808">Physical Examination</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D010812">Physical Stimulation</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D015203">Reproducibility of Results</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
<QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D012680">Sensitivity and Specificity</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D013314">Stress, Mechanical</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D013647">Task Performance and Analysis</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D014783">Viscosity</DescriptorName>
</MeshHeading>
</MeshHeadingList>
</MedlineCitation>
<PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2014</Year>
<Month>7</Month>
<Day>12</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
<PubMedPubDate PubStatus="pubmed"><Year>2014</Year>
<Month>7</Month>
<Day>12</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
<PubMedPubDate PubStatus="medline"><Year>2015</Year>
<Month>9</Month>
<Day>9</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
</History>
<PublicationStatus>ppublish</PublicationStatus>
<ArticleIdList><ArticleId IdType="doi">10.1109/TBME.2014.2336095</ArticleId>
<ArticleId IdType="pubmed">25014953</ArticleId>
</ArticleIdList>
</PubmedData>
</pubmed>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Corpus

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000601 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd -nk 000601 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PubMed
   |étape=   Corpus
   |type=    RBID
   |clé=     pubmed:25014953
   |texte=   A method to study precision grip control in viscoelastic force fields using a robotic gripper.
}}

Pour générer des pages wiki

HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/RBID.i   -Sk "pubmed:25014953" \
       | HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd   \
       | NlmPubMed2Wicri -a HapticV1

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

A method to study precision grip control in viscoelastic force fields using a robotic gripper.

A method to study precision grip control in viscoelastic force fields using a robotic gripper.

Source :

English descriptors

Abstract

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki