A Novel Haptic Glove (ExoTen-Glove) Based on Twisted String Actuation (TSA) System for Virtual Reality

Hosseini, Mohssen; Pane, Yudha; Sengül, Ali; Schutter, Joris De; Bruyninckx, Herman

doi:10.1007/978-3-319-93399-3_52

Cited by 6 publications

(2 citation statements)

References 22 publications

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“…Various application of TSA can be found in literature; an innovative anthropomorphic robotic hand "DEXMART", using 24 independent TSAs is reported in [12], while in [13] a light-weight exoskeleton device (Auxilio) for elbow and shoulder assistance is presented. ExoTen-Glove, a novel haptic interface for virtual reality is described in [14], as well as as a five fingered robotic hand [15] and tensegrity robots for space applications [16].…”

Section: Introductionmentioning

confidence: 99%

A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications

Hosseini

Meattini

San-Millan

et al. 2020

IEEE Robot. Autom. Lett.

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The scope of this work is to show the applicability of the Twisted String Actuators (TSAs) for lightweight, wearable and assistive robotic applications. To this aim, we have developed a novel surface electromyography (sEMG)-driven soft ExoSuit using the TSAs to perform both single and dual-arm elbow assistive applications. The proposed ExoSuit, with an overall weight of 1650 g, uses a pair of TSAs mounted in the back of the user, connected via tendons to the user's forearms to actuate each arm independently for supporting external loads. We confirm this new light-weight and customizable wearable solution via multiple user studies based on the biceps and tricep' sEMG measurements. We demonstrate that user's muscles can automatically activate and regulate the TSAs and compensate for the user's effort: by using our controller based on a Double Threshold Strategy (DTS) with a standard PID regulator, we report that the system was able to limit the biceps' sEMG activity under an arbitrary target threshold, compensating a muscular activity equal to 220% (related to a single arm 3 kg load) and 110% (related to a dual arm 4 kg load) of the threshold value itself. Moreover, the triceps' sEMG signal detects the external load and, depending on the threshold, returns the system to the initial state where it requires no assistance from the ExoSuit. The experimental results show the proposed ExoSuit's capabilities in both single and dualarm load compensation tasks. Therefore, the applicability of the TSAs is experimentally demonstrated for a real-case assistive device, fostering future studies and developments of this kind of actuation strategy for wearable robotic systems.

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Section: Introductionmentioning

confidence: 99%

A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications

Hosseini

Meattini

San-Millan

et al. 2020

IEEE Robot. Autom. Lett.

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“…Due to its light weight, simple structure and less expensive characteristics, the actuator has been actively studied for usage in robotics, such as anthropomorphic robotic hand, 15 orthoses, 16 exoskeleton 17 and haptic glove. 18 When the system constitution is concerned, one end of the two twisted strings is fixed to the driving part, and the other end is connected to the rotating motor to rotate the two strings. [19][20][21] Contraction achieved by the twisted string leads to a relative displacement of the two end fixations.…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation of a twisted string actuation for usage in active catheter

Yan

Wang

et al. 2020

Robotics Computer Surgery

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Background: The improvement of the steerability and controllability of catheters is highly required because catheter-based interventional diagnosis and therapy have become increasingly popular. However, active catheters are often complex and expensive. Methods: This study attempts to control catheter tip by a twisted string actuator. Experiments are carried out to analyze the full actuation and bending characteristics of the active catheter. Results: It is indicated that the expected bending motion can be achieved by twisting the strings. Hysteresis behavior in backward and forward motion is also discussed. High repetitive positional accuracy and reverse position accuracy can be obtained when the number of rotation is low. When the number of turns is 25, the maximum tip position errors are 4, 1.8 and 1 mm in X, Y and Z directions, respectively. Conclusion: It is expected that the presented method will prove useful for the application of twisted string active catheter.

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Design of Low-Cost Soft Angle Exoskeleton Using Soft Actuators

Sonar¹,

Reddy²,

Schilberg³

et al. 2021

Handbook of Smart Materials, Technologies, and Devices

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A Novel Haptic Glove (ExoTen-Glove) Based on Twisted String Actuation (TSA) System for Virtual Reality

Cited by 6 publications

References 22 publications

A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications

A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications

Experimental investigation of a twisted string actuation for usage in active catheter

Design of Low-Cost Soft Angle Exoskeleton Using Soft Actuators

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