Haptic Devices for Studies on Human Grasp and Rehabilitation PDF
Preview Haptic Devices for Studies on Human Grasp and Rehabilitation
Springer Series on Touch and Haptic Systems Alessandro Altobelli Haptic Devices for Studies on Human Grasp and Rehabilitation Springer Series on Touch and Haptic Systems Series Editors Manuel Ferre Marc O. Ernst Alan Wing Series Editorial Boards Carlo A. Avizzano José M. Azorín Soledad Ballesteros Massimo Bergamasco Antonio Bicchi Martin Buss Jan van Erp Matthias Harders William S. Harwin Vincent Hayward Juan M. Ibarra Astrid Kappers Abderrahmane Kheddar Miguel A. Otaduy Angelika Peer Jerome Perret Jean-Louis Thonnard More information about this series at http://www.springer.com/series/8786 Alessandro Altobelli Haptic Devices for Studies on Human Grasp and Rehabilitation 123 Alessandro Altobelli Research Center“E.Piaggio” University of Pisa Pisa Italy ISSN 2192-2977 ISSN 2192-2985 (electronic) SpringerSeries onTouch andHapticSystems ISBN978-3-319-47086-3 ISBN978-3-319-47087-0 (eBook) DOI 10.1007/978-3-319-47087-0 LibraryofCongressControlNumber:2016953854 ©SpringerInternationalPublishingAG2016 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland To my darling Chiara To Sergio and Cecilia, my wonderful parents To Simone, my great brother ’ Series Editors Foreword Thisisthethirteenthvolumeofthe‘SpringerSeriesonTouchandHapticSystems’, which is published in collaboration between Springer and the EuroHaptics Society. This volume, entitled Haptic Devices for Studies on Human Grasp and Rehabilitation, is focused on the development and the validation of a set of new hapticdevices.Amajorpurposeofthesedevicesistoadvanceknowledgeofhuman fingerstiffnessandforcedistributionwhenperforminggraspingtasks.Tothisend, this volume sheds light on some of the strategies people use in manipulation tasks and it provides tools to assess rehabilitation procedures. Furthermore, this volume provides results of some investigations of human strategies for impedance control. One application scenario of these results is human—robot interaction and the controlofmyoelectricprostheses.Although,rehabilitationhasbeenthefocusofthe application scenario in this volume, other applications such as surgical operation, virtualmanipulation,andevenvideogamescanclearlybenefitfromtheseresultsas well. Dr. Alessandro Altobelli received the EuroHaptics 2015 PhD award. His thesis was selected among a large number of excellent theses in an international com- petitionthatconsidersthequalityandrelevanceofthehapticsresearchpresented.It wasinrecognitionofthisaward,thatDr.Altobelliwasinvitedtopublishhiswork in the Springer Series on Touch and Haptic Systems. September 2016 Manuel Ferre Marc Ernst Alan Wing vii Preface Thisbookaimstopresentanewsetofdevicesforaccurateinvestigationofhuman finger stiffness and force distribution in grasping tasks. The ambitious goal of this research is twofold: (1) to advance the state of art on human strategies in manip- ulation tasks and provide tools to assess rehabilitation procedure, and (2) to investigate human strategies for impedance control that can be used for human robot interaction and control of myoelectric prosthesis. Thefirstpartofthisbookdescribestwotypesofsystemsthatenabletoachievea complete set of measurements on force distribution and contact point locations. More specifically, this part includes the following: (i) the design process and val- idation of tripod grasp devices with controllable stiffness at the contact to be used alsoforrehabilitationpurposes,and(ii)thevalidationofmultidigitwearablesensor system.Resultsondevices'validationaswellasillustrativemeasurementexamples arereportedanddiscussed.Theeffectivenessofthesedevicesingraspanalysiswas also experimentally demonstrated, and applications of neuroscientific studies are discussed. In the second part of this book, the sensorized objects are exploited in two different studies to investigate stiffness regulation principles in humans. The first study provides evidence on the existence of coordinated stiffening patterns in human hand fingers and establishes initial steps towards a real time and effective modelling offinger stiffness in tripod grasp. This pattern further supports the evi- denceofsynergisticcontrolinhumangrasping.Toachievethisgoal,theendpoint stiffness of the thumb, index and middle fingers of healthy subjects are experi- mentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. The findings suggest that the magnitude of the stiffness ellipses at the fingertips grows in a coordinated way, subsequent to the cocontraction of the forearm muscles. The second study presents experimental findings on how humans modulate their hand stiffnesswhile grasping objectofvaryinglevelsofcompliance.Subjectsperforma grasp and lift task with a tripod grasp object with contact surfaces of variable compliance; EMG from the main finger flexor and extensor muscles was recorded along withforce andtorquedataatthecontactpoints.Asignificantincreaseinthe ix x Preface extensor muscle and cocontraction levels is evidenced with an increasing compli- ance at the contact points. Overall results give solid evidence on the validity and utility of the proposed devices to investigate human grasp proprieties. The underlying motor control principlesthatareexploitedbyhumansintheachievementofareliableandrobust grasp can be potentially integrated into the control framework of robotic or pros- thetic hands to achieve a similar interaction performance. Main Research Arguments This book deals about: (i) the development and testing of suitable systems for humangraspingstudies,and(ii)studiesonthecontroloffingerstiffnessingrasping tasks. These two topics are fundamental to understand the principles used by humans in motor control to interact with the external world. The developed knowledge, moreover, could be exploited in rehabilitation and prosthetic fields. Pisa, Italy Alessandro Altobelli Book Structure This book is structured as follows: (cid:129) Chapter 1 presents the motivations and the contributions of this book which proposesanewsetoftoolsandmethodsinordertounderstandthestrategiesof human motor control during grasping tasks. (cid:129) Chapter 2 aims to present the complexity of the human hand. It starts with a brief description of the biomechanics model of the hand, and then it gives an overview on some recent hypothesis concerning the human motor control (pre-grasp, grasping force distribution, muscle activation, impedance control). Finally,itpointsouttheproblemtounderstandtherelationshipbetweenhuman grasp properties and stiffness at contact points. (cid:129) Chapter 3 presents two novel sensorized objects developed to study human grasp with customizable condition of stiffness at contact points. (cid:129) Chapter 4 deals with the validation of new wearable device, ThimbleSense, developed in our laboratory to study grasping task with no constraints on hand posture and object shape. (cid:129) Chapter 5 presents a procedure to estimate the contact point stiffness in multi- finger grasp. A preliminary map between EMG signals and finger stiffness of hand is also reported. (cid:129) Chapter 6 investigates on the control of finger flexor/extensor muscles per- formedbyhumans,whentheygraspobjectswithcontactsurfacescharacterized by different levels of stiffness. xi
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