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Clustering Latent Sensor Distribution on Body Map for Generating Body Schema Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Development of a Master–Slave Finger Exoskeleton Driven by Pneumatic Artificial Muscles

Authors : Takuya Urino, Shuhei Ikemoto, Koh Hosoda

Published in: Intelligent Autonomous Systems 14

Publisher: Springer International Publishing

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Abstract

This paper presents a master–slave finger exoskeleton developed to allow subjects whose brain activity is being measured by functional magnetic resonance imaging (fMRI) to remotely perform tasks. The MRI environment requires the device to be free from metal components and strongly immobilized, which can reduce the device’s versatility and ease of setup. To overcome these limitations, we designed a finger exoskeleton using pneumatic artificial muscles, which can be made metal–free and used for not only actuators but also sensors. We also proposed a symmetric, bilateral control method for the device, and experimentally validated device performance and its control method.

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previous chapter Objective Measurement of Dynamic Balance Function by the Simultaneous Measurement of the Center of Gravity (COG) and Center of Pressure (COP)
next chapter Temporal Structure of Muscle Synergy of Human Stepping Leg During Sit-to-Walk Motion
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Metadata
Title
Development of a Master–Slave Finger Exoskeleton Driven by Pneumatic Artificial Muscles
Authors
Takuya Urino
Shuhei Ikemoto
Koh Hosoda
Copyright Year
2017
Book
Intelligent Autonomous Systems 14

Print ISBN: 978-3-319-48035-0

Electronic ISBN: 978-3-319-48036-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-48036-7_7

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