A lobster-inspired robotic glove for hand rehabilitation

Chen, Yaohui; Le, Sing; Tan, Qiao Chu; Lau, Oscar; Wan, Fang; Song, Chaoyang

doi:10.1109/icra.2017.7989556

Cited by 28 publications

(22 citation statements)

References 17 publications

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“…Soft grippers are well known to have excellent adaptability [27], [28] and are able to grasp a variety of objects while keeping perpendicular to the tabletop in applications [29]. Our hypothesis is that the grasp planning problem with our designed soft gripper can be simplified to predict the best grasp pose (u, v, θ) where θ is the yaw angle of the soft gripper while the gripper was kept perpendicular to the table.…”

Section: A Deepclaw For Grasp Benchmarkingmentioning

confidence: 99%

A Reconfigurable Design for Omni-adaptive Grasp Learning

Wan

Wang

et al. 2020

IEEE Robot. Autom. Lett.

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The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with omni-directional adaptation, which generates a large number of possible gripper configurations by rearranging these fingers. Such reconfigurable design with these omni-adaptive fingers enables us to systematically investigate the optimal arrangement of the fingers towards robust grasping. Furthermore, we adopt a learning-based method as the baseline to benchmark the effectiveness of each design configuration. As a result, we found that a 3-finger and 4-finger radial configuration is the most effective one achieving an average 96% grasp success rate on seen and novel objects selected from the YCB dataset. We also discussed the influence of the frictional surface on the finger to improve the grasp robustness.

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Section: A Deepclaw For Grasp Benchmarkingmentioning

confidence: 99%

A Reconfigurable Design for Omni-adaptive Grasp Learning

Wan

Wang

et al. 2020

IEEE Robot. Autom. Lett.

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“…Moreover, biological inspiration has come to the fore in SEG design to emulate an animal's motion looking for stability [30] or optimal grasping tasks [31]. According to [8], SEG should weigh less than 500 g, provide easy and comfortable donn-doff, and achieve 10 open-close finger cycles per minute for effective actuation.…”

Section: Seg Design Criteriamentioning

confidence: 99%

Design Criteria of Soft Exogloves for Hand Rehabilitation-Assistance Tasks

Dávila-Vilchis

Ávila-Vilchis

Vilchis-González

et al. 2020

Applied Bionics and Biomechanics

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This paper establishes design criteria for soft exogloves (SEG) to be used as rehabilitation or assistance devices. This research consists in identifying, selecting, and grouping SEG features based on the analysis of 91 systems that have been proposed during the last decade. Thus, function, mobility, and usability criteria are defined and explicitly discussed to highlight SEG design guidelines. Additionally, this study provides a detailed description of each system that was analysed including application, functional task, palm design, actuation type, assistance mode, degrees of freedom (DOF), target fingers, motions, material, weight, force, pressure (only for fluids), control strategy, and assessment. Such characteristics have been reported according to specific design methodologies and operating principles. Technological trends are contemplated in this contribution with emphasis on SEG design opportunity areas. In this review, suggestions, limitations, and implications are also discussed in order to enhance future SEG developments aimed at stroke survivors or people with hand disabilities.

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“…This requires continuous monitoring of the actuator. Power consumption has been observed to be reasonable, with relatively medium to high voltage inputs (up to 230 V in some models) [5,8,9,14,22]. Another alternative is the use of Dielectric Elastomer-based actuators (DEA).…”

Section: Related Workmentioning

confidence: 99%

Modular multi-motor exercise system for space exploration

et al. 2020

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The goal of this project is to develop new technology that will support crew health and performance during long duration space missions. While there are current methods for maintaining fitness aboard the International Space Station, the results are not ideal; muscle mass and bone density continue to degrade, and there is still room for improvement. Moreover, new exploration missions need to maximize the use of the equipment due to storage limitations. A system that can be used for multiple purposes such as for providing multiple strength training exercises, as well as, providing aerobic exercises while using the same workout space is desirable. This project aims to address these challenges by introducing a modular system that will bring versatility, scalability, and robustness, by using mountable and reconfigurable modules to maximize the number of exercises that can be performed. In this paper we present the development of a Modular Multi-Motor Exercise System concept based on Magneto-Rheological fluid-based modules.

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A lobster-inspired robotic glove for hand rehabilitation

Cited by 28 publications

References 17 publications

A Reconfigurable Design for Omni-adaptive Grasp Learning

A Reconfigurable Design for Omni-adaptive Grasp Learning

Design Criteria of Soft Exogloves for Hand Rehabilitation-Assistance Tasks

Modular multi-motor exercise system for space exploration

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