Hi5: A versatile dual-wrist device to study human-human interaction and bimanual control

Our goal is to investigate the mechanisms of human-human interaction in collaborative and competitive tasks. In this regard, previous groups have suggested simplified motor tasks involving dual robotic interfaces. However, these interfaces involved arm movements with a high degree of kinematic and m...

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Bibliographic Details
Published in2011 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2578 - 2583
Main Authors Melendez-Calderon, A., Bagutti, L., Pedrono, B., Burdet, E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
DC motors
Electromyography
Joints
Monitoring
Muscles
Torque
Wrist
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Summary:Our goal is to investigate the mechanisms of human-human interaction in collaborative and competitive tasks. In this regard, previous groups have suggested simplified motor tasks involving dual robotic interfaces. However, these interfaces involved arm movements with a high degree of kinematic and muscle redundancy. This paper introduces a simple, yet versatile dual-wrist robotic interface, Hi5, that allows us to investigate the motor processes behind human-human and bimanual interaction control, and avoid confounds inherent of arm movements. This paper presents the design of Hi5 and the implemented safety measures. Performance tests then demonstrate its capacity to yield high dynamics, and exhibit low values for inertia and friction. Preliminary experiments show how Hi5 allows us to analyze the specific kinematic, torque and muscle activation patterns of each partner and disambiguate their roles in force and impedance control.
ISBN:1612844545
9781612844541
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2011.6094422