TY - GEN
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
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=85177418970&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-46936-7_9
DO - 10.1007/978-3-031-46936-7_9
M3 - Contribución a la conferencia
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
T2 - 46th Mexican Conference on Biomedical Engineering, CNIB 2023
Y2 - 2 November 2023 through 4 November 2023
ER -