An Object-based Mapping Algorithm to Control Wearable Robotic Extra-Fingers

One of the new targets of wearable robots is not to enhance the lift strength far above human capability by wearing a bulky robot, but to support human capability within its range by wearing lightweight and compact robots. A new approach regarding robotic extra-fingers is presented here. In particular, an object-based mapping algorithm is proposed to control the robotic extra-fingers by interpreting the whole or a part of the hand motion in grasping and manipulation tasks. As a case study, the model and control of an additional robotic finger is presented. The robotic finger has been placed on the wrist opposite to the hand palm. This solution enlarges the hand workspace, increasing the grasp capability of the user. The proposed mapping algorithm do not require the human operator to activate explicit commands. Rather, the motion of the extra-fingers is connected to the human hand so that the user can perceive the robotic fingers as an extension of his body.