Analysis of Human Grip Strength in Physical Human Robot Interaction

Tran, A; Liu, D; Ranasinghe, R; Carmichael, M; Liu, C

Analysis of Human Grip Strength in Physical Human Robot Interaction

Tran, A

Liu, D

Ranasinghe, R

Carmichael, M

Liu, C

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Publication Type:: Conference Proceeding
Citation:: Procedia Manufacturing, 2015, 3 pp. 1442 - 1449
Issue Date:: 2015-01-01

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Field	Value	Language
dc.contributor.author	Tran, A https://orcid.org/0000-0003-3752-533X	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Ranasinghe, R https://orcid.org/0000-0002-3785-3723	en_US
dc.contributor.author	Carmichael, M https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, C	en_US
dc.date.issued	2015-01-01	en_US
dc.identifier.citation	Procedia Manufacturing, 2015, 3 pp. 1442 - 1449	en_US
dc.identifier.uri	http://hdl.handle.net/10453/117970
dc.description.abstract	© 2015 The Authors The purpose of this paper is to explore how an operator's grip plays a role in physical Human Robot Interaction (pHRI). By considering how the operator reacts to or initiates changes in control, it is possible to study the operator's grip pattern. By analyzing the grip pattern, it is possible to incorporate their natural response in order to create safer and more intuitive interfaces. An experiment where an exoskeleton and human collaborate in order to complete a path following task has been chosen to measure the forces applied by the user at the handle to observe the interaction between the operator and robot. AThruMode Matrix Array sensor has been wrapped around the robot's handle to measure the applied pressure. By introducing the sensor it not only enables the measurement of applied forces and how they are applied but also a measure of how tight the user is gripping the handle. Previous studies show that the natural response of a human to an unexpected event is to tighten their grip, indicating that how an operator grasps the handle can be related to the operator's intention. In order to investigate how the operator's grip of the handle changes, the experiments presented in this paper examine two different scenarios which might occur during an interaction, the first where the robot attempts to deviate from the path and the second where the operator wishes to deviate to a new path. The results of the experiments show that whether the operator or the robot initiates the transition, a measurable change in how the operator grasps the handle. The information in this paper can lead to new applications in pHRI by exploring the possible uses of an operator's grasping strength.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP140100950
dc.relation.ispartof	Procedia Manufacturing	en_US
dc.relation.isbasedon	10.1016/j.promfg.2015.07.320	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Analysis of Human Grip Strength in Physical Human Robot Interaction	en_US
dc.type	Conference Proceeding
utslib.citation.volume	3	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	1007 Nanotechnology	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	3	en_US

Abstract:

© 2015 The Authors The purpose of this paper is to explore how an operator's grip plays a role in physical Human Robot Interaction (pHRI). By considering how the operator reacts to or initiates changes in control, it is possible to study the operator's grip pattern. By analyzing the grip pattern, it is possible to incorporate their natural response in order to create safer and more intuitive interfaces. An experiment where an exoskeleton and human collaborate in order to complete a path following task has been chosen to measure the forces applied by the user at the handle to observe the interaction between the operator and robot. AThruMode Matrix Array sensor has been wrapped around the robot's handle to measure the applied pressure. By introducing the sensor it not only enables the measurement of applied forces and how they are applied but also a measure of how tight the user is gripping the handle. Previous studies show that the natural response of a human to an unexpected event is to tighten their grip, indicating that how an operator grasps the handle can be related to the operator's intention. In order to investigate how the operator's grip of the handle changes, the experiments presented in this paper examine two different scenarios which might occur during an interaction, the first where the robot attempts to deviate from the path and the second where the operator wishes to deviate to a new path. The results of the experiments show that whether the operator or the robot initiates the transition, a measurable change in how the operator grasps the handle. The information in this paper can lead to new applications in pHRI by exploring the possible uses of an operator's grasping strength.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/117970