Design of a Soft Glove-Based Robotic Hand Exoskeleton with Embedded Synergies

2020 ◽  
pp. 71-87
Author(s):  
Martin K. Burns ◽  
Ramana Vinjamuri
Keyword(s):  
Robotic Hand ◽  
Hand Exoskeleton

A Review on Robotic Hand Exoskeleton Devices: State-of-the-Art Method

2021 ◽  
pp. 331-341
Author(s):  
T. Triwiyanto ◽  
Endro Yulianto ◽  
Muhammad Ridha Mak’ruf ◽  
Dyah Titisari ◽  
Triana Rahmawati ◽  
...  
Keyword(s):  
State Of The Art ◽  
Robotic Hand ◽  
Hand Exoskeleton

scholarly journals Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Symmetry ◽  
2020 ◽  
Vol 12 (9) ◽  
pp. 1470 ◽  
Author(s):  
Flaviu Ionuț Birouaș ◽  
Radu Cătălin Țarcă ◽  
Simona Dzitac ◽  
Ioan Dzitac
Keyword(s):  
Mechanical Design ◽  
Experimental Testing ◽  
Motor Impairment ◽  
Human Hand ◽  
Underactuated System ◽  
Robotic Hand ◽  
Advantages And Disadvantages ◽  
Hand Exoskeleton ◽  
Robotic Devices ◽  
And Behavior

Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation

2015 ◽  
Vol 8 (2) ◽  
pp. 140-151 ◽  
Author(s):  
Daniele Leonardis ◽  
Carmelo Chisari ◽  
Massimo Bergamasco ◽  
Antonio Frisoli ◽  
Michele Barsotti ◽  
...  
Keyword(s):  
Robotic Hand ◽  
Hand Exoskeleton

Research on Size Synthesis Optimization Design of a Bionic Exoskeleton for Index Finger Rehabilitation

2014 ◽  
Vol 945-949 ◽  
pp. 1447-1450 ◽  
Author(s):  
Qing Yun Meng ◽  
Shi Li Tan ◽  
Hong Liu Yu ◽  
Qiao Ling Meng ◽  
Jin Hua Yi
Keyword(s):  
Stroke Rehabilitation ◽  
Optimization Design ◽  
Index Finger ◽  
Left Index Finger ◽  
Robotic Hand ◽  
Range Of Movement ◽  
Design Variables ◽  
Reasonable Range ◽  
Hand Exoskeleton ◽  
Component Parameter

This paper presents a novel wearable robotic hand exoskeleton named ReHand-II for post-stroke rehabilitation. To ensure the consistency of rotation between exoskeleton joints and index finger joints and to realize reasonable range of movement, the kinematics models of left index finger and the exoskeleton are established. And design variables,constraints and objective function are determined. The size synthesis optimization design is realized. Ultimately the size value of each component parameter is determined. The hand exoskeleton is developed according to the results of the optimization. Finally, ReHand-II shows better bio-imitability and Wearable adaptability by wear experiment results.

scholarly journals Compact Design of A Lightweight Rehabilitative Exoskeleton for Restoring Grasping Function in Patients with Hand Paralysis

2021 ◽  
Author(s):  
Vaheh Nazari ◽  
Majid Pouladian ◽  
Yong-Ping Zheng ◽  
Monzurul Alam
Keyword(s):  
Motor Control ◽  
Hand Function ◽  
Cervical Cord ◽  
Robotic Hand ◽  
Hand Functions ◽  
Cord Injury ◽  
Hand Exoskeleton ◽  
Compact Design ◽  
Finger Control

Abstract BackgroundMillions of individuals suffer from upper extremity paralysis caused by neurological disorders including stroke, traumatic brain injury, spinal cord injury, or other medical conditions. In order to restore motor control and enhance the quality of life of these patients, daily exercises and strengthening training are necessary. Robotic hand exoskeletons can substitute for the missing motor control and help to restore the functions performed in daily operations. They can also facilitate neuroplasticity to help rehabilitate hand function through routine use. However, most of the hand exoskeletons are bulky, stationary, and cumbersome to use.Methods We have utilized a recent design of a hand exoskeleton (Tenoexo) and modified the design to prototype a motorized, lightweight, fully wearable rehabilitative hand exoskeleton by combining rigid parts with a soft mechanism capable of producing various grasps needed for the execution of daily tasks. We have tested the performance of our developed hand exoskeleton in restoring hand functions in two quadriplegics with chronic cervical cord injury.ResultsMechanical evaluation of our exoskeleton showed that it can produce fingertip force up to 8 N and can cover 91.5 degree of range of motion in just 3 seconds. We further tested the robot in two quadriplegics with chronic hand paralysis, and observed immediate success on independent grasping of different daily objects. ConclusionsThe results suggest that our exoskeleton is a viable option for hand function assistance, allowing patients to regain lost finger control for everyday activities.

scholarly journals Control of Newly-Designed Wearable Robotic Hand Exoskeleton Based on Surface Electromyographic Signals

2021 ◽  
Vol 15 ◽  
Author(s):  
Ke Li ◽  
Zhengzhen Li ◽  
Haibin Zeng ◽  
Na Wei
Keyword(s):  
Neuromuscular Disorders ◽  
Functional Integration ◽  
Near Neighbor ◽  
The Other ◽  
Advanced Technology ◽  
Support Vector ◽  
Human Hand ◽  
Robotic Hand ◽  
Hand Rehabilitation ◽  
Hand Exoskeleton

The human hand plays a role in a variety of daily activities. This intricate instrument is vulnerable to trauma or neuromuscular disorders. Wearable robotic exoskeletons are an advanced technology with the potential to remarkably promote the recovery of hand function. However, the still face persistent challenges in mechanical and functional integration, with real-time control of the multiactuators in accordance with the motion intentions of the user being a particular sticking point. In this study, we demonstrated a newly-designed wearable robotic hand exoskeleton with multijoints, more degrees of freedom (DOFs), and a larger range of motion (ROM). The exoskeleton hand comprises six linear actuators (two for the thumb and the other four for the fingers) and can realize both independent movements of each digit and coordinative movement involving multiple fingers for grasp and pinch. The kinematic parameters of the hand exoskeleton were analyzed by a motion capture system. The exoskeleton showed higher ROM of the proximal interphalangeal and distal interphalangeal joints compared with the other exoskeletons. Five classifiers including support vector machine (SVM), K-near neighbor (KNN), decision tree (DT), multilayer perceptron (MLP), and multichannel convolutional neural networks (multichannel CNN) were compared for the offline classification. The SVM and KNN had a higher accuracy than the others, reaching up to 99%. For the online classification, three out of the five subjects showed an accuracy of about 80%, and one subject showed an accuracy over 90%. These results suggest that the new wearable exoskeleton could facilitate hand rehabilitation for a larger ROM and higher dexterity and could be controlled according to the motion intention of the subjects.

scholarly journals Haptic Hand Exoskeleton for Precision Grasp Simulation

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Marco Fontana ◽  
Salsedo Fabio ◽  
Simone Marcheschi ◽  
Massimo Bergamasco
Keyword(s):  
Lightweight Design ◽  
Force Sensor ◽  
Robotic Hand ◽  
Haptic Interaction ◽  
Electromechanical Actuators ◽  
Speed Reduction ◽  
Integrated Electronics ◽  
Torque Transmission ◽  
Hand Exoskeleton ◽  
Force Accuracy

This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented.

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