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Validation of Grip Force Measurement Using Hand Rehabilitation Robot for Impedance Control

Validation of Grip Force Measurement Using Hand Rehabilitation Robot for Impedance Control
Translated Title
손 재활로봇의 임피던스 제어를 위한 접지력 측정 검증
Park, Ji Hyuk
DGIST Authors
Park, Ji Hyuk; Chang, Pyung Hun
Chang, Pyung Hun
Jang, Sung Ho
Issue Date
Available Date
Degree Date
2015. 2
grip forcehand rehabilitation robotimpedance control
Recently, a novel hand rehabilitation robot was developed in an authors’ laboratory for the rehabilitation of patients with neurological disorders such as strokes. In terms of mechanism this robot has features not only to provide full grasping motion by using one motor but also to have finger length adjustment for various people. Although the robot has aforementioned advantages, for impedance control, force information sensed from F/T sensor is not validated yet. Since it is required to figure out the direct force of hand during grasping and opening motion, the reliability of force information needs to be confirmed for applying impedance control to our hand robot. Using simulation tool, Autodesk ForceEffect™, force analysis of the hand robot is implemented. Under three different MCP angles such as 0°, 30°, and 60°, known force is applied at the end-point of the hand robot and torque at F/T sensor can be calculated considering gear ratio. Then, under same condition experiment is carried out. In this case, force is applied using digital dynamometer and torque is directly measured by F/T sensor. As a result, at all cases except for MCP angle 0°, analysis and experiment result have highly linear relation (R^2=0.9916,R^2=0.9917,at MCP angle 30° and 60°). By this relationship, fingertip force can be estimated approximately. Therefore, the foundation of impedance control is established and it leads to the expectation that the impedance control based hand robot will provide the therapy compliant to the patients more precisely, more comprehensively, and much safely. ⓒ 2015 DGIST
Table Of Contents
Ⅰ. INTRODUCTION 1 -- 1.1 Purpose of Research 1 -- 1.2 Structure of Thesis 2 -- Ⅱ. BACKGROUND 3 -- 2.1 Stroke 3 -- 2.2 Hand Joint Anatomy 4 -- 2.3 Neurological Hand Impairment Following Stroke 5 -- 2.4 Grip Force Measurement Tools 6 -- 2.5 Impedance Control 7 -- Ⅲ. METHODS AND ANALYSIS 9 -- 3.1 Introduction to the Developed Hand Rehabilitation Robot 9 -- 3.1.1 Hardware 9 -- 3.1.2 Software 12 -- 3.1.3 Kinematics and Mechanism of the Developed Hand Robot 15 -- Verification of Its Mobility by Grübler’s and Alizade’s Formula 15 -- 3.2 Analysis of the Developed Hand Rehabilitation Robot 16 -- 3.2.1 Introduction to Analysis Tool, Autodesk ForceEffect™ 16 -- 3.2.2 Force Analysis of the Hand Rehabilitation Robot using ForceEffect™ 17 -- The Effect of Magnitude and Angle error of Applied Force 21 -- Ⅳ. EXPERIMENTS AND RESULTS 23 -- 4.1 Verification of Torque Using Hand Robot with Applied Force by Digital Dynamometer 23 -- 4.1.1 Experimental Setup and Tasks 23 -- 4.1.2 Data Analysis 24 -- 4.1.3 Experiment Results 25 -- 4.1.4 Discussion 27 -- MCP Angle Deviation According to Magnitude of Applied Force 27 -- 4.1.5 Results of Modified Analysis of the Hand Robot 29 -- Ⅴ. CONCLUSION 33 -- 5.1 Study Summary 33 -- 5.2 Constraints 34 -- 5.3 Future Directions 35
Robotics Engineering
Robotics EngineeringThesesMaster

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