i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Etienne Moullet; Justin Carpentier; Christine Azevedo Coste; François Bailly

i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Quantitative Methods 2024-10-10 v1

Authors: Etienne Moullet , Justin Carpentier , Christine Azevedo Coste , François Bailly

Abstract

This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper limb impairments. Operating within a collaborative grasping control paradigm, the users naturally move their hand towards an object they wish to grasp and i-GRIP identifies the target of the movement and selects an appropriate grip for the assistive device to perform. In an experimental study involving 11 healthy participants, i-GRIP exhibited promising estimation performances and responsiveness. The proposed approach paves the way towards more intuitive control of grasping assistive device for individuals with upper limb impairments.

Keywords

movement intention estimation assistive devices grasping control upper limb impairments collaborative control

Cite

@article{arxiv.2410.06595,
  title  = {i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices},
  author = {Etienne Moullet and Justin Carpentier and Christine Azevedo Coste and François Bailly},
  journal= {arXiv preprint arXiv:2410.06595},
  year   = {2024}
}

Comments

International Conference on Humanoid Robots, IEEE-RAS, Nov 2024, Nancy, France

i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Abstract

Keywords

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