Abstract
Due to high degree of freedom and different mechanism foci, hand and arm exoskeletons are usually developed separately and seldom combined together. Hand exoskeletons are typically more complex mechanisms than arm or leg exoskeletons due to the numerous degrees of freedom encapsulated in the hand and the small anatomical structure involved. This study presents the design of a 12 DOF (6 active) reconfigurable hand exoskeleton for rehabilitation that will be installed on the upper limb exoskeletons, EXO-UL8 and BLUE SABINO. Given the mechanism architecture, a nonlinear optimization framework minimizes physical footprint while maximizing mechanism isotropy and device functionality.
This work was funded in part by the National Science Foundation through Award #1532239.
P. W. Ferguson and B. Dimapasoc—These authors contributed equally to this work.
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Ferguson, P.W., Dimapasoc, B., Shen, Y., Rosen, J. (2019). Design of a Hand Exoskeleton for Use with Upper Limb Exoskeletons. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_53
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DOI: https://doi.org/10.1007/978-3-030-01887-0_53
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