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  4. Development and Evaluation of a Sensor Glove to Detect Grasp Intention for a Wearable Robotic Hand Exoskeleton
 
conference paper

Development and Evaluation of a Sensor Glove to Detect Grasp Intention for a Wearable Robotic Hand Exoskeleton

Hennig, Robert
•
Gantenbein, Jessica
•
Dittli, Jan
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January 1, 2020
2020 8Th Ieee Ras/Embs International Conference For Biomedical Robotics And Biomechatronics (Biorob)
8th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Restoring hand function in people suffering from neuromotor hand impairment is a crucial step towards regaining independence. Wearable robotic hand orthoses are a promising approach to support that aim by providing grasp assistance in daily life. For successful independent use of such an assistive device, a robust and intuitive method to detect the user's intention to grasp is crucial. However, current solutions often fail to meet these two requirements. In this work, we present a novel sensor glove to detect the user's grasp intention for the actuated hand exoskeleton RELab tenoexo by integrating soft flexible sensors into a conventional glove. Through contact detection with the object to grasp, the user input can be directly embedded into the regular movement. Sensor characterization and performance evaluation with three able-bodied subjects have shown that the developed sensor glove works reliably and can accurately detect the user's grasp intentions with true positive and true negative rates of 93.1% and 97.6%, respectively. A pilot test with a possible end-user with spinal cord injury (SCI) underlined the potential benefits of the approach and helped to identify aspects, that require further improvements. The study demonstrated the general feasibility of this method and paves the way for inherently intuitive intention detection in wearable assistive devices.

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Type
conference paper
DOI
10.1109/BioRob49111.2020.9224463
Web of Science ID

WOS:000636920600002

Author(s)
Hennig, Robert
Gantenbein, Jessica
Dittli, Jan
Chen, Haotian  
Lacour, Stephanie P.  
Lambercy, Olivier
Gassert, Roger
Date Issued

2020-01-01

Publisher

IEEE

Publisher place

New York

Published in
2020 8Th Ieee Ras/Embs International Conference For Biomedical Robotics And Biomechatronics (Biorob)
ISBN of the book

978-1-7281-5907-2

Series title/Series vol.

Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics

Start page

19

End page

24

Subjects

force

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LSBI  
Event nameEvent placeEvent date
8th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

New York City, NY

Nov 29-Dec 01, 2020

Available on Infoscience
June 5, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/178507
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