Dynamical Synergies in Multidigit Hand Prehension

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dc.contributor.authorPei, Dingyi
dc.contributor.authorOlikkal, Parthan Sathishkumar
dc.contributor.authorAdali, Tulay
dc.contributor.authorVinjamuri, Ramana
dc.date.accessioned2022-10-11T16:42:27Z
dc.date.available2022-10-11T16:42:27Z
dc.date.issued2022-09-08
dc.description2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) Scottish Event Campus, Glasgow, UK, July 11-15, 2022en_US
dc.description.abstractHand prehension requires a highly coordinated control of contact forces. The high dimensional sensorimotor system of the human hand although operates at ease, poses several challenges when replicated for prosthetic control. This study investigates how the dynamical synergies, coordinated spatial patterns of contact forces, contribute to the contact forces in a grasp, and whether the dynamical synergies could potentially serve as candidates for feedforward and feedback mechanisms. Ten right-handed subjects were recruited to grasp and hold mass-varied objects. The contact forces during this multidigit prehension were recorded using an instrumented grip glove. The dynamical synergies were derived using principal component analysis (PCA). The contact force patterns during the grasps were reconstructed using the first few synergies. The significance of the dynamical synergies and the current challenges and possible applications of the dynamical synergies were discussed along with the integration of the dynamical synergies into prosthetics and exoskeletons that can possibly enable near-natural control. This research presents dynamical synergies observed in contact forces during hand grasps. These dynamical synergies could help in improving feedforward force control and sensory feedback in hand prosthetics and exoskeletons.en_US
dc.description.sponsorshipResearch supported by National Science Foundation (CAREER Award HCC-2053498).en_US
dc.description.urihttps://ieeexplore.ieee.org/document/9871888en_US
dc.format.extent4 pagesen_US
dc.genrepostprintsen_US
dc.genreconference papers and proceedingsen_US
dc.identifierdoi:10.13016/m28u5v-ezxh
dc.identifier.citationD. Pei, P. Olikkal, T. Adali and R. Vinjamuri, "Dynamical Synergies in Multidigit Hand Prehension," 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2022, pp. 3203-3206, doi: 10.1109/EMBC48229.2022.9871888.en_US
dc.identifier.urihttps://doi.org/10.1109/EMBC48229.2022.9871888
dc.identifier.urihttp://hdl.handle.net/11603/26149
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Computer Science and Electrical Engineering Department Collection
dc.relation.ispartofUMBC Faculty Collection
dc.relation.ispartofUMBC Student Collection
dc.rights© 2022 IEEE.  Personal use of this material is permitted.  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.titleDynamical Synergies in Multidigit Hand Prehensionen_US
dc.typeTexten_US
dcterms.creatorhttps://orcid.org/0000-0001-7756-3678en_US
dcterms.creatorhttps://orcid.org/0000-0002-5513-1150en_US
dcterms.creatorhttps://orcid.org/0000-0003-1650-5524en_US

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