An exoskeleton master hand for controlling DLR/HIT hand

Fang, Honggen; Xie, Zongwu; Hong, Li

doi:10.1109/iros.2009.5354624

Cited by 31 publications

(28 citation statements)

References 6 publications

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“…Unlike coupled devices, fingertip devices interact with user's finger from a single point and control the fingertip position regardless how finger joints move (Figure 7(d)) [25], [38], [56], [57], [60], [63], [66]. Each finger component is controlled using a single actuator, so they are low-cost, easily wearable and portable.…”

Section: Kinematics Selectionmentioning

confidence: 99%

“…Alternatively, an exoskeleton can align mechanical and finger joints through adjusted mechanical connections and links [15], [22], [27]- [30], [32], [33], [37], [40], [45], [52], [57], [60], [62], [63], [67], [73], [77], [84], [87]. The user wears the device before operation and a technician fixes a sliderscrew system for fitting.…”

Section: Strategies For Adjusting To Different Hand Sizesmentioning

confidence: 99%

See 1 more Smart Citation

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

112

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Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the motor learning and treatment process. The recent technology can lead to the creation of generic hand exoskeletons that are application-agnostic. In this paper, our motivation is to create guidelines and best practices for generic exoskeletons by reviewing the literature of current devices. First, we describe each application and briefly explain their design requirements, and then list the design selections to achieve these requirements. Then, we detail each selection by investigating the existing exoskeletons based on their design choices, and by highlighting their impact on application types. With the motivation of creating efficient generic exoskeletons in the future, we finally summarize the best practices in the literature.Index Terms-hand exoskeletons, rehabilitation hand exoskeletons, assistive hand exoskeletons, haptic hand exoskeletons

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Section: Kinematics Selectionmentioning

confidence: 99%

Section: Strategies For Adjusting To Different Hand Sizesmentioning

confidence: 99%

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

112

View full text Add to dashboard Cite

show abstract

“…Force information is critical since without force feedback it is difficult to understand whether an object is in a stable grasp position for the operator in Virtual Reality (VR) and teleoperation applications. Recently, several five-finger force feedback devices have been developed [10,[31][32][33][34][35][36]. Those finger haptic devices can be divided into passive or active force feedback devices.…”

Section: Force Feedback Glovesmentioning

confidence: 99%

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

Ben-Tzvi

2015

IEEE Trans. Neural Syst. Rehabil. Eng.

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This paper presents the design, implementation and experimental validation of a novel robotic haptic exoskeleton device to measure the user's hand motion and assist hand motion while remaining portable and lightweight. The device consists of a five-finger mechanism actuated with miniature DC motors through antagonistically routed cables at each finger, which act as both active and passive force actuators. The SAFE Glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. The glove is adaptable to a wide variety of finger sizes without constraining the range of motion. This makes it possible to accurately and comfortably track the complex motion of the finger and thumb joints associated with common movements of hand functions, including grip and release patterns. The glove can be wirelessly linked to a computer for displaying and recording the hand status through 3D Graphical User Interface (GUI) in real-time. The experimental results demonstrate that the SAFE Glove is capable of reliably modeling hand kinematics, measuring finger motion and assisting hand grasping motion. Simulation and experimental results show the potential of the proposed system in rehabilitation therapy and virtual reality applications.

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“…This type of mechanism improves force feedback by allowing the user to "feel" virtual objects in a more natural way. This ability is required in many applications such as virtual reality [4], tele-operation [5], humanassistive devices [6], and medical applications [7]. The high dexterity of haptic gloves also makes them applicable to the control of complex movements of remote robots, as opposed to other haptic devices such as joysticks and PHANTOM [8].…”

Section: Introductionmentioning

confidence: 99%

Design and Optimization of a Five-Finger Haptic Glove Mechanism

Ben-Tzvi

2015

Journal of Mechanisms and Robotics

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This paper describes the design and optimization of a novel five-finger haptic glove mechanism, which uses a worm-geared motor and an antagonistically routed cable mechanism at each finger as both active and passive force display actuators. Existing haptic gloves either restrict the natural motion and maximum output force of the hand or are bulky and heavy. In order to tackle these challenges, the five-finger haptic glove is designed to minimize the size and weight and maximize the workspace and force output range of the glove. The glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. This paper describes the mechatronic design of the glove and the method to optimize the link length with the purpose of enhancing workspace and the force transmission ratio. Simulation and experimental results are reported, showing the future potential of the proposed system in haptic applications and rehabilitation therapy.

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An exoskeleton master hand for controlling DLR/HIT hand

Cited by 31 publications

References 6 publications

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

Design and Optimization of a Five-Finger Haptic Glove Mechanism

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