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arXiv · 2409.16692

A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Etienne Moullet·François Bailly·Justin Carpentier·Christine Azevedo Coste
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Abstract

This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairments. The algorithm operates within a collaborative control paradigm, eliminating the need for specific user actions apart from naturally moving their hand toward a desired object. i-GRIP analyzes the hand's movement in an object-populated scene to determine its target and select an appropriate grip. In an experimental study involving 11 healthy participants, i-GRIP showed promising goal estimation performances and responsiveness and the potential to facilitate the daily use of assistive devices for individuals with upper-limb impairments in the future.

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Etienne Moullet, François Bailly, Justin Carpentier, Christine Azevedo Coste. 2024-09-25. A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices. https://arxiv.org/abs/2409.16692

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