NDLI: Optimal design and control of a hand exoskeleton

Content Provider	IEEE Xplore Digital Library
Author	Orlando, M.F. Akolkar, H. Dutta, A. Saxena, A. Behera, L.
Copyright Year	2010
Description	Author affiliation: Department of Electrical Engineering, IIT Kanpur 208016, India (Orlando, M.F.; Akolkar, H.; Behera, L.)
Abstract	This paper deals with the optimal design and control of an exoskeletal robot. First, the motion data from the fingers of a normal subject was captured by a vision system. As the human finger joints cannot be modeled by single revolute joints due to changing instantaneous centre of rotation, we have used 4-bar mechanisms to model each joint. Optimal 4-bars have been designed using genetic algorithms, by minimizing the error between a coupler point and points traced by the finger links. It is shown that the designed 4-bars can accurately track the motion of the human fingers. The exoskeleton is controlled by using the EMG signals obtained from the subject's muscles. The relation between the EMG and finger motion is first learned, using a neural net. Based on the learned parameters, the subjects EMG signal is used to control a simulation of the exoskeleton joint motion. A comparison between Recurrent Neural Network and Multi Layer Perceptron for classifying and mapping the EMG to finger position was also carried out.
Starting Page	72
Ending Page	77
File Size	816904
Page Count	6
File Format	PDF
ISBN	9781424465033
e-ISBN	9781424465064
DOI	10.1109/RAMECH.2010.5513211
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-28
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimal control Exoskeletons Fingers Electromyography Humans Robots Machine vision Algorithm design and analysis Genetic algorithms Tracking neural networks Finger exoskeleton EMG 4-bar mechanism genetic algorithms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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