scholarly journals Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons

Biomimetics ◽  
2018 ◽  
Vol 3 (3) ◽  
pp. 17 ◽  
Author(s):  
Talha Shahid ◽  
Darwin Gouwanda ◽  
Surya G. Nurzaman ◽  
Alpha A. Gopalai
Keyword(s):  
Soft Materials ◽  
Soft Robotics ◽  
Robotic Hand ◽  
Force Transmission ◽  
Design Attributes ◽  
Timeline Analysis ◽  
Elastomeric Materials ◽  
Actuation Mode ◽  
Electrical Components ◽  
And Control

Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frameworks: a systematic review and a chronological review of the exoskeletons. The first approach summarizes the designs of different soft robotic hand exoskeletons based on their mechanical, electrical and functional attributes, including the degree of freedom, number of fingers, force transmission, actuation mode and control strategy. The second approach discusses the technological trend of soft robotic hand exoskeletons in the past decade. The timeline analysis demonstrates the transformation of the exoskeletons from rigid ferrous materials to soft elastomeric materials. It uncovers recent research, development and integration of their mechanical and electrical components. It also approximates the future of the soft robotic hand exoskeletons and some of their crucial design attributes.

Design and control of five fingered under-actuated robotic hand

2018 ◽  
Author(s):  
Biswojit Sahoo ◽  
Pramod Kumar Parida
Keyword(s):  
Robotic Hand ◽  
And Control

Design and Control of Pneumatic Systems for Soft Robotics: A Simulation Approach

2021 ◽  
Vol 6 (3) ◽  
pp. 5800-5807
Author(s):  
Matheus S. Xavier ◽  
Andrew J. Fleming ◽  
Yuen Kuan Yong
Keyword(s):  
Soft Robotics ◽  
Simulation Approach ◽  
And Control

scholarly journals Colloids in confined liquid crystals: a plot twist in the lock-and-key mechanism

Soft Matter ◽  
2019 ◽  
Vol 15 (26) ◽  
pp. 5220-5226 ◽  
Author(s):  
Giuseppe Boniello ◽  
Yimin Luo ◽  
Daniel A. Beller ◽  
Francesca Serra ◽  
Kathleen J. Stebe
Keyword(s):  
Liquid Crystals ◽  
Soft Materials ◽  
Energy Landscapes ◽  
And Control ◽  
Confined Liquid Crystals

By confining soft materials within tailored boundaries it is possible to design energy landscapes to address and control colloidal dynamics. Twist distortions in confined liquid crystals multiply configurations for particles-boundaries interactions.

Development of a soft cable-driven hand exoskeleton for assisted rehabilitation training

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Dawen Xu ◽  
Qingcong Wu ◽  
Yanghui Zhu
Keyword(s):  
Muscle Activation ◽  
Control Strategies ◽  
Motor Dysfunction ◽  
Force Transmission ◽  
Content Type ◽  
Rehabilitation Training ◽  
Local Structures ◽  
Hand Exoskeleton ◽  
And Control

Purpose Hand motor dysfunction has seriously reduced people’s quality of life. The purpose of this paper is to solve this problem; different soft exoskeleton robots have been developed because of their good application prospects in assistance. In this paper, a new soft hand exoskeleton is designed to help people conduct rehabilitation training. Design/methodology/approach The proposed soft exoskeleton is an under-actuated cable-driven mechanism, which optimizes the force transmission path and many local structures. Specifically, the path of force transmission is optimized and cables are wound around cam-shaped spools to prevent cables lose during fingers movement. Besides, a pre-tightening system is presented to adjust the preload force of the cable-tube. Moreover, a passive brake mechanism is proposed to prevent the cables from falling off the spools when the remote side is relaxed. Findings Finally, three control strategies are proposed to assist in rehabilitation training. Results show that the average correlation coefficient of trajectory tracking is 90.99% and this exoskeleton could provide steady clamping force up to 35 N, which could meet the demands of activities in daily living. Surface electromyography (sEMG)-based intention recognition method is presented to complete assistance and experiments are conducted to prove the effectiveness of the assisted grasping method by monitoring muscle activation, finger angle and interactive force. Research limitations/implications However, the system should be further optimized in terms of hardware and control to reduce delays. In addition, more clinical trials should be conducted to evaluate the effect of the proposed rehabilitation strategies. Social implications May improve the ability of hemiplegic patients to live independently. Originality/value A novel under-actuated soft hand exoskeleton structure is proposed, and an sEMG-based auxiliary grasping control strategy is presented to help hemiplegic patients conduct rehabilitation training.

scholarly journals Soft Robotics as an Enabling Technology for Agroforestry Practice and Research

2019 ◽  
Vol 11 (23) ◽  
pp. 6751 ◽  
Author(s):  
Girish Chowdhary ◽  
Mattia Gazzola ◽  
Girish Krishnan ◽  
Chinmay Soman ◽  
Sarah Lovell
Keyword(s):  
New Technologies ◽  
Soft Robotics ◽  
Enabling Technology ◽  
Robotic Arms ◽  
Profit Margins ◽  
Agricultural Robots ◽  
Agroforestry Practice ◽  
Human Labor ◽  
Design And Manufacture ◽  
And Control

The shortage of qualified human labor is a key challenge facing farmers, limiting profit margins and preventing the adoption of sustainable and diversified agroecosystems, such as agroforestry. New technologies in robotics could offer a solution to such limitations. Advances in soft arms and manipulators can enable agricultural robots that can have better reach and dexterity around plants than traditional robots equipped with hard industrial robotic arms. Soft robotic arms and manipulators can be far less expensive to manufacture and significantly lighter than their hard counterparts. Furthermore, they can be simpler to design and manufacture since they rely on fluidic pressurization as the primary mechanisms of operation. However, current soft robotic arms are difficult to design and control, slow to actuate, and have limited payloads. In this paper, we discuss the benefits and challenges of soft robotics technology and what it could mean for sustainable agriculture and agroforestry.

2A2-K01 Research on the actuator for robotic hand of cell-manufacturing system(Mechanism and Control for Actuator)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-K01_1-_2A2-K01_2
Author(s):  
Masaharu KOMORI ◽  
Sohei OGA ◽  
Tatsuki SHU ◽  
Shuai Zhang ◽  
Akio NODA ◽  
...  
Keyword(s):  
Manufacturing System ◽  
Robotic Hand ◽  
Cell Manufacturing ◽  
And Control ◽  
System Mechanism

CUBot: Computer Vision on the Eye–Hand Coordination with a Computer-Using Robot and its Implementation

2017 ◽  
Vol 32 (04) ◽  
pp. 1855005 ◽  
Author(s):  
Yung-Sheng Chen ◽  
Kun-Li Lin
Keyword(s):  
Computer Vision ◽  
Visual Perception ◽  
Data Communication ◽  
Object Perception ◽  
Robotic Hand ◽  
Human Visual Perception ◽  
Robotic Vision ◽  
Research Areas ◽  
Hand Coordination ◽  
And Control

Eye–hand coordination (EHC) is of great importance in the research areas of human visual perception, computer vision and robotic vision. A computer-using robot (CUBot) is designed for investigating the EHC mechanism and its implementation is presented in this paper. The CUBot possesses the ability of operating a computer with a mouse like a human being. Based on the three phases of people using computer with a mouse, i.e. watching the screen, recognizing the graphical objects on the screen as well as controlling the mouse to let the cursor approach to the target, our CUBot can also perceive information merely through its vision and control the mouse by its robotic hand without any physical data communication connected to the operated computer. The CUBot is mainly composed of “Mouse-Hand” for operating the mouse, “mind” for realizing the object perception, cursor tracking, and EHC. Two experiments used for testing the ability of our EHC algorithm and the perception of CUBot confirm the feasibility of the proposed approach.

Design and control of artificial robotic hand

2014 ◽  
Author(s):  
Ali Bin Junaid ◽  
Muhammad Raheel Afzal ◽  
Tahir Rasheed ◽  
Sanan Tahir ◽  
Sharjeel Ahmed ◽  
...  
Keyword(s):  
Robotic Hand ◽  
And Control

Mechanical Design and Control Issues of a Dexterous Robotic Hand

2012 ◽  
Vol 463-464 ◽  
pp. 1268-1271 ◽  
Author(s):  
Cosmin Berceanu ◽  
Daniela Tarniţă
Keyword(s):  
Development Process ◽  
Mechanical Design ◽  
Control Problems ◽  
Robotic Hand ◽  
Research Topics ◽  
Precise Positioning ◽  
Software And Hardware ◽  
Active Research ◽  
Artificial Hand ◽  
And Control

The design and control problems involved in the development process of robotic grippers have been active research topics in the last three decades. In this paper it is presented a new developed dexterous robotic hand whose mechanical structure is based on a biomechatronic approach. The control system for this artificial hand relies on modern software and hardware components which allow precise positioning of the fingers.

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