Title :
Cortex inspired model for inverse kinematics computation for a humanoid robotic finger
Author :
Gentili, Rodolphe J. ; Hyuk Oh ; Molina, Juan ; Reggia, James A. ; Contreras-Vidal, Jose L.
Author_Institution :
Dept. of Kinesiology, Univ. of Maryland, College Park, MD, USA
fDate :
Aug. 28 2012-Sept. 1 2012
Abstract :
In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multi-jointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands.
Keywords :
artificial limbs; biomechanics; medical robotics; robot kinematics; artificial anthropomorphic fingers; artificial anthropomorphic hands; bioinspired controller; complex kinematics; cortex inspired model; cortical model; dexterous robotic hands; human biomechanical features; human hand performance levels; humanoid robotic finger; inverse kinematics computation; multi-jointed anthropomorphic actuators; pneumatic muscles; prosthetic hands; visual targets; Biological system modeling; Computational modeling; Joints; Kinematics; Robots; Thumb; Algorithms; Biomechanical Phenomena; Feedback, Sensory; Fingers; Humans; Models, Neurological; Movement; Robotics;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-4119-8
Electronic_ISBN :
1557-170X
DOI :
10.1109/EMBC.2012.6346608