Experimental Test Bed for Hand Orthotic Actuators Characterization

Ángel Iván De Luna-García; Ricardo Cortez; Marco Sandoval-Chileño; Norma Lozada-Castillo; Alberto Luviano-Juárez

doi:10.1007/978-3-031-46936-7_9

Experimental Test Bed for Hand Orthotic Actuators Characterization

Ángel Iván De Luna-García, Ricardo Cortez, Marco Sandoval-Chileño, Norma Lozada-Castillo, Alberto Luviano-Juárez

Unidad Profesional Interdisciplinaria de Ingeniería y Tecnologías Avanzadas (UPIITA)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The present article shows the implementation of a bilateral control scheme as an option to be implemented on a hand orthosis. The reference signal is computed using a measurement of the position of the phalanx based on a flexible sensor, the measurements are used to estimate positions of a 3DoF robot based on a polynomial approximation. The estimated positions are used to compute the inverse kinematic to provide positions of the orthosis, this is verified using the Matlab Robotic Toolbox that verifies how the robot reaches the same position of the phalanx.

Original language	English
Title of host publication	46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2
Subtitle of host publication	Biomechanics, Rehabilitation and Clinical Engineering
Editors	José de Jesús Agustín Flores Cuautle, Balam Benítez-Mata, Ricardo Antonio Salido-Ruiz, Hugo A. Vélez-Pérez, Gustavo Adolfo Alonso-Silverio, Guadalupe Dorantes-Méndez, Aldo Rodrigo Mejía-Rodríguez, Esmeralda Zúñiga-Aguilar, Edgar Del Hierro-Gutiérrez
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	87-98
Number of pages	12
ISBN (Print)	9783031469350
DOIs	https://doi.org/10.1007/978-3-031-46936-7_9
State	Published - 2024
Event	46th Mexican Conference on Biomedical Engineering, CNIB 2023 - Villahermosa Tabasco, Mexico Duration: 2 Nov 2023 → 4 Nov 2023

Publication series

Name	IFMBE Proceedings
Volume	97
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

Conference	46th Mexican Conference on Biomedical Engineering, CNIB 2023
Country/Territory	Mexico
City	Villahermosa Tabasco
Period	2/11/23 → 4/11/23

Keywords

Bilateral Control
Hand orthosis
Movement analysis
Robotics

Access to Document

10.1007/978-3-031-46936-7_9

Cite this

De Luna-García, Á. I., Cortez, R., Sandoval-Chileño, M., Lozada-Castillo, N., & Luviano-Juárez, A. (2024). Experimental Test Bed for Hand Orthotic Actuators Characterization. In J. D. J. A. Flores Cuautle, B. Benítez-Mata, R. A. Salido-Ruiz, H. A. Vélez-Pérez, G. A. Alonso-Silverio, G. Dorantes-Méndez, A. R. Mejía-Rodríguez, E. Zúñiga-Aguilar, & E. D. Hierro-Gutiérrez (Eds.), 46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2: Biomechanics, Rehabilitation and Clinical Engineering (pp. 87-98). (IFMBE Proceedings; Vol. 97). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-46936-7_9

De Luna-García, Ángel Iván ; Cortez, Ricardo ; Sandoval-Chileño, Marco et al. / Experimental Test Bed for Hand Orthotic Actuators Characterization. 46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2: Biomechanics, Rehabilitation and Clinical Engineering. editor / José de Jesús Agustín Flores Cuautle ; Balam Benítez-Mata ; Ricardo Antonio Salido-Ruiz ; Hugo A. Vélez-Pérez ; Gustavo Adolfo Alonso-Silverio ; Guadalupe Dorantes-Méndez ; Aldo Rodrigo Mejía-Rodríguez ; Esmeralda Zúñiga-Aguilar ; Edgar Del Hierro-Gutiérrez. Springer Science and Business Media Deutschland GmbH, 2024. pp. 87-98 (IFMBE Proceedings).

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title = "Experimental Test Bed for Hand Orthotic Actuators Characterization",

abstract = "The present article shows the implementation of a bilateral control scheme as an option to be implemented on a hand orthosis. The reference signal is computed using a measurement of the position of the phalanx based on a flexible sensor, the measurements are used to estimate positions of a 3DoF robot based on a polynomial approximation. The estimated positions are used to compute the inverse kinematic to provide positions of the orthosis, this is verified using the Matlab Robotic Toolbox that verifies how the robot reaches the same position of the phalanx.",

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De Luna-García, ÁI, Cortez, R, Sandoval-Chileño, M, Lozada-Castillo, N & Luviano-Juárez, A 2024, Experimental Test Bed for Hand Orthotic Actuators Characterization. in JDJA Flores Cuautle, B Benítez-Mata, RA Salido-Ruiz, HA Vélez-Pérez, GA Alonso-Silverio, G Dorantes-Méndez, AR Mejía-Rodríguez, E Zúñiga-Aguilar & ED Hierro-Gutiérrez (eds), 46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2: Biomechanics, Rehabilitation and Clinical Engineering. IFMBE Proceedings, vol. 97, Springer Science and Business Media Deutschland GmbH, pp. 87-98, 46th Mexican Conference on Biomedical Engineering, CNIB 2023, Villahermosa Tabasco, Mexico, 2/11/23. https://doi.org/10.1007/978-3-031-46936-7_9

Experimental Test Bed for Hand Orthotic Actuators Characterization. / De Luna-García, Ángel Iván; Cortez, Ricardo; Sandoval-Chileño, Marco et al.
46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2: Biomechanics, Rehabilitation and Clinical Engineering. ed. / José de Jesús Agustín Flores Cuautle; Balam Benítez-Mata; Ricardo Antonio Salido-Ruiz; Hugo A. Vélez-Pérez; Gustavo Adolfo Alonso-Silverio; Guadalupe Dorantes-Méndez; Aldo Rodrigo Mejía-Rodríguez; Esmeralda Zúñiga-Aguilar; Edgar Del Hierro-Gutiérrez. Springer Science and Business Media Deutschland GmbH, 2024. p. 87-98 (IFMBE Proceedings; Vol. 97).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Experimental Test Bed for Hand Orthotic Actuators Characterization

AU - De Luna-García, Ángel Iván

AU - Cortez, Ricardo

AU - Sandoval-Chileño, Marco

AU - Lozada-Castillo, Norma

AU - Luviano-Juárez, Alberto

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

PY - 2024

Y1 - 2024

N2 - The present article shows the implementation of a bilateral control scheme as an option to be implemented on a hand orthosis. The reference signal is computed using a measurement of the position of the phalanx based on a flexible sensor, the measurements are used to estimate positions of a 3DoF robot based on a polynomial approximation. The estimated positions are used to compute the inverse kinematic to provide positions of the orthosis, this is verified using the Matlab Robotic Toolbox that verifies how the robot reaches the same position of the phalanx.

AB - The present article shows the implementation of a bilateral control scheme as an option to be implemented on a hand orthosis. The reference signal is computed using a measurement of the position of the phalanx based on a flexible sensor, the measurements are used to estimate positions of a 3DoF robot based on a polynomial approximation. The estimated positions are used to compute the inverse kinematic to provide positions of the orthosis, this is verified using the Matlab Robotic Toolbox that verifies how the robot reaches the same position of the phalanx.

KW - Bilateral Control

KW - Hand orthosis

KW - Movement analysis

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AN - SCOPUS:85177418970

SN - 9783031469350

T3 - IFMBE Proceedings

SP - 87

EP - 98

BT - 46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2

A2 - Flores Cuautle, José de Jesús Agustín

A2 - Benítez-Mata, Balam

A2 - Salido-Ruiz, Ricardo Antonio

A2 - Vélez-Pérez, Hugo A.

A2 - Alonso-Silverio, Gustavo Adolfo

A2 - Dorantes-Méndez, Guadalupe

A2 - Mejía-Rodríguez, Aldo Rodrigo

A2 - Zúñiga-Aguilar, Esmeralda

A2 - Hierro-Gutiérrez, Edgar Del

PB - Springer Science and Business Media Deutschland GmbH

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Y2 - 2 November 2023 through 4 November 2023

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De Luna-García ÁI, Cortez R, Sandoval-Chileño M, Lozada-Castillo N , Luviano-Juárez A. Experimental Test Bed for Hand Orthotic Actuators Characterization. In Flores Cuautle JDJA, Benítez-Mata B, Salido-Ruiz RA, Vélez-Pérez HA, Alonso-Silverio GA, Dorantes-Méndez G, Mejía-Rodríguez AR, Zúñiga-Aguilar E, Hierro-Gutiérrez ED, editors, 46th Mexican Conference on Biomedical Engineering - Proceedings of CNIB 2023 - Volume 2: Biomechanics, Rehabilitation and Clinical Engineering. Springer Science and Business Media Deutschland GmbH. 2024. p. 87-98. (IFMBE Proceedings). doi: 10.1007/978-3-031-46936-7_9

Experimental Test Bed for Hand Orthotic Actuators Characterization

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