Design of an Underactuated Hand Exoskeleton with Joint Estimation
In this study, we present an underactuated hand exoskeleton with the adaptation for the shape and the size of the objects during grasping tasks. The realism of the grasping tasks are improved by allowing only the normal transmission of the forces on the finger phalanges. The absence of the tangential forces allows the device to be attached to the user’s finger in an easy and comfortable manner for the operation. Furthermore, the finger size adjustability can be ensured by the linkage-based design. Underactuation assures the automatic adjustability of the device for the grasping objects, while preventing the posture control of the finger phalanges. The undersensing disadvantage of the underactuation approach is suggested to be overcome by utilizing an additional potentiometer on the device in order to estimate the finger joints and the pose analysis of the mechanism during operation.
KeywordsSensory Measurement Joint Estimation Finger Joint Automatic Adjustability Proximal Phalange
This research was been funded from the project “WEARHAP WEARable HAPtics for humans and robots” of the European Union Seventh Framework Programme, grant agreement n 601165 and the EU Horizon2020 project n. 644839 CENTAURO.
- 1.Aubin P, Sallum H, Walsh C, Stirling L, Correia A (2013) A pediatric robotic thumb exoskeleton for at-home rehabilitation: the isolated orthosis for thumb actuation (IOTA). In: IEEE international conference on rehabilitation robotics (ICORR). pp 1–6 (2013)Google Scholar
- 2.Ertas IH, Hocaoglu E, Patoglu V (2014) AssistOn-Finger: an under-actuated finger exoskeleton for robot-assisted tendon therapy. RoboticaGoogle Scholar
- 3.Hasegawa Y, Tokita J, Kamibayashi K, Sankai Y (2011) Evaluation of fingertip force accuracy in different support conditions of exoskeleton. In: IEEE international conference on robotics and automation (ICRA). pp 680–685Google Scholar
- 7.Leonardis D, Barsotti M, Loconsole C, Solazzi M, Troncossi M, Mazzotti C, Parenti Castelli V, Procopio C, Lamola G, Chisari C et al (2015) An emg-controlled robotic hand exoskeleton for bilateral rehabilitationGoogle Scholar
- 9.Taheri H, Rowe JB, Gardner D, Chan V, Gray K, Bower C, Reinkensmeyer DJ, Wolbrecht ET (2014) Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play. J NeuroEng Rehabil 11(10):1–17Google Scholar