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dc.contributor.authorPastor, Francisco
dc.contributor.authorGandarias, Juan Manuel
dc.contributor.authorGarcia-Cerezo, Alfonso J. 
dc.contributor.authorMuñoz-Ramirez, Antonio Jose 
dc.contributor.authorGómez-de-Gabriel, Jesús Manuel 
dc.date.accessioned2019-12-12T07:32:16Z
dc.date.available2019-12-12T07:32:16Z
dc.date.created2019
dc.date.issued2019
dc.identifier.urihttps://hdl.handle.net/10630/19020
dc.description.abstractIn this paper, a method for the estimation of the angle of grasping of a human forearm, when grasped by a robot with an underactuated gripper, using proprioceptive information only, is presented. Knowing the angle around the forearm’s axis (i.e. roll angle) is key for the safe manipulation of the human limb and biomedical sensor placement among others. The adaptive gripper has two independent underactuated fingers with two phalanges and a single actuator each. The final joint position of the gripper provides information related to the shape of the grasped object without the need for external contact or force sensors. Regression methods to estimate the roll angle of the grasping have been trained with forearm grasping information from different humans at each angular position. The results show that it is possible to accurately estimate the rolling angle of the human arm, for trained and unknown people.en_US
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Techen_US
dc.language.isospaen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRobóticaen_US
dc.subject.otherpHRIen_US
dc.subject.otherunderactuated gripperen_US
dc.subject.otherpropioceptive sensorsen_US
dc.subject.otherregressionen_US
dc.subject.otherhaptic perceptionen_US
dc.titleGrasping Angle Estimation of Human Forearm with Underactuated Grippers Using Proprioceptive Feedbacken_US
dc.typeinfo:eu-repo/semantics/articleen_US
dc.centroEscuela de Ingenierías Industrialesen_US
dc.relation.eventtitleRobot 2019: Fourth Iberian Robotics Conferenceen_US
dc.relation.eventplacePorto, Portugalen_US
dc.relation.eventdateNoviembre, 2019en_US


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