A human hand compatible optimised exoskeleton system

This paper proposes a novel design of a hand exoskeleton System. The optimisation of the exoskeleton device (link lengths, actuation) was achieved through the procedure targeting the natural finger workspace and capabilities. To define the design requirements of the hand exoskeleton device, an analysis of the hand daily life common activities has been carried out. Range of motion, maximum and average force levels exerted by human hands of different sizes and various age groups have been measured using appropriate instrumentation. Results of these experiments mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been proposed. A rapid prototype of the proposed design has been realized to analyze and demonstrate the mechanism and to verify the optimisation results. Results have shown that the hand exoskeleton system covers the complete range of motion of a natural human hand.

[1]  Nikolaos G. Tsagarakis,et al.  Occupational and physical therapy using a hand exoskeleton based exerciser , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[2]  Naoki Kawakami,et al.  An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Takashi Maeno,et al.  Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[4]  Shuguo Wang,et al.  Development of a multi-DOF exoskeleton based machine for injured fingers , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Grigore C. Burdea,et al.  The Rutgers Master II-ND force feedback glove , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[6]  Francesco Giovacchini,et al.  HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Takashi Maeno,et al.  Development of an ultrasonic clutch for multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[8]  Antonio Frisoli,et al.  Mechanical Design of a Haptic Interface for the Hand , 2002 .

[9]  Andreas Wege,et al.  Development and Control of a Hand Exoskeleton for Rehabilitation , 2006 .

[10]  Nikos G. Tsagarakis,et al.  A portable rehabilitation device for the Hand , 2010, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology.

[11]  Hyoukryeol Choi,et al.  SKK Hand Master-hand exoskeleton driven by ultrasonic motors , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[12]  Philippe Fuchs,et al.  Design of a 2-finger hand skeleton for VR grasping simulation , 2003 .

[13]  Massimo Bergamasco,et al.  Mechanical design of a novel Hand Exoskeleton for accurate force displaying , 2009, 2009 IEEE International Conference on Robotics and Automation.

[14]  Yasuhisa Hasegawa,et al.  Wearable handling support system for paralyzed patient , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  D. Caldwell,et al.  1 A Compliant exoskeleton for multi-planar upper limb physiotherapy and training , 2006 .

[16]  Derek G. Kamper,et al.  An Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke , 2007 .