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arXiv · 2410.06595

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

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

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Etienne Moullet, Justin Carpentier, Christine Azevedo Coste, François Bailly. 2024-10-09. i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices. https://arxiv.org/abs/2410.06595

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