Design and control of a three finger hand exoskeleton for translation of a slender object

Nishad, Shyam Sunder; Dutta, Ashish; Saxena, Anupam

doi:10.1109/urai.2014.7057526

Cited by 13 publications

(4 citation statements)

References 6 publications

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“…The input link O 2 A is attached to the servomotor's shaft for actuating the exoskeleton. The method employed by Nishad et al [33] for three DOF per finger exoskeleton module design is adapted for this single DOF finger exoskeleton. The optimal link lengths are given in Table II. A CAD model of the exoskeleton was developed and then a prototype was fabricated using selective laser sintering.…”

Section: E Dmentioning

confidence: 99%

Hand-Exoskeleton Assisted Progressive Neurorehabilitation Using Impedance Adaptation Based Challenge Level Adjustment Method

Chowdhury

Nishad

Meena

et al. 2019

IEEE Trans. Haptics

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This paper presents an underactuated design of a robotic hand exoskeleton, and a challenge based neurorehabilitation strategy. The exoskeleton is designed to reproduce natural human fingertip paths during extension and grasping, keeping minimal kinematic complexity. It facilitates an impedance adaptation based trigged assistance control strategy by switching between active non-assist and passive assistance modes. In the active non-assist mode, the exoskeleton motion follows the applied fingertip forces based on an impedance model. If the applied fingertip forces are inadequate, the passive assistance mode is triggered. The impedance parameters are updated at regular intervals based on the user performance, to implement a challenge based rehabilitation strategy. A six-week long hand therapy, conducted on four chronic stroke patients, resulted in significant (p-value<0.05) increase in force generation capacity and decrease (p-value<0.05) in the required assistance. Also, there was a significant (p-value<0.05) increase in the system impedance parameters which adequately challenged the patients. The change in the Action-Research-Arm-Test (ARAT) scores from baseline was also found to be significant (p-value<0.05) and beyond the minimal clinically important difference (MCID) limit. Thus the results prove that the proposed control strategy with has the potential to be a clinically effective solution for personalized rehabilitation of poststroke hand functionality.

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Section: E Dmentioning

confidence: 99%

Hand-Exoskeleton Assisted Progressive Neurorehabilitation Using Impedance Adaptation Based Challenge Level Adjustment Method

Chowdhury

Nishad

Meena

et al. 2019

IEEE Trans. Haptics

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“…In the precision point method, the number of desired points is limited, whereas in the optimal synthesis method there is no such limitation. Hence, it is frequently used by researchers [6][7][8][9] in comparison with other methods.…”

Section: Introductionmentioning

confidence: 99%

“…One such nature-inspired algorithms is genetic algorithm (GA). GA can be used for solving highly nonlinear problems to find the optimum solutions and its efficiency may be increased by modifying its selection-and crossover procedure [6][7][8]. Alternatively, *For correspondence particle swarm optimization (PSO) and differential evolution (DE) algorithms may be used for path synthesis of four-bar linkage for tracking more than five precision points.…”

Section: Introductionmentioning

confidence: 99%

A new hybrid teaching–learning particle swarm optimization algorithm for synthesis of linkages to generate path

2017

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This paper proposes a novel hybrid teaching-learning particle swarm optimization (HTLPSO) algorithm, which merges two established nature-inspired algorithms, namely, optimization based on teachinglearning (TLBO) and particle swarm optimization (PSO). The HTLPSO merges the best half of population obtained after the teacher phase in TLBO with the best half of the population obtained after PSO. The population so obtained is used subsequently in learner phase of TLBO. To validate the proposed algorithm, five constrained benchmark functions are considered to prove its robustness and efficiency. The proposed algorithm is applied to synthesize four-bar linkage for prescribed path. It is found that the HTLPSO performs better than other single nature-inspired algorithms for path synthesis problem in mechanism theory. Hence, HTLPSO may prove to be an important tool for mechanism design to follow the prescribed path.

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“…The design of the four-bar mechanism was divided into the following steps: (a) Recording of human finger motion data; (b) Analysis of recorded data to generate the desired path followed by fingertip; and (c) Kinematic synthesis of four-bar mechanism to follow the desired path. Human finger motion data recorded by Nishad et al [22] have been used in this study. Three-point path generation technique has been used to synthesize the linkages.…”

Section: Design Of the Finger Mechanism With Variable Compliancementioning

confidence: 99%

Design of a variable stiffness index finger exoskeleton

Attal

Dutta

2021

Robotica

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This paper presents the design and experimentation of a variable stiffness index finger exoskeleton consisting of four-bar mechanisms actuated by a linear actuator. The lengths of the four-bar mechanism were optimized so that it can follow a recorded index fingertip trajectory. The mechanism has a fixed compliance at the coupler of the four-bar link and a variable compliance at the linear actuator that moves the four-bar. The skeletal shape of the coupler of the finger link has been optimized using FEM. The exoskeleton can apply a constant fingertip force irrespective of the position of the fingers.

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Design and control of a three finger hand exoskeleton for translation of a slender object

Cited by 13 publications

References 6 publications

Hand-Exoskeleton Assisted Progressive Neurorehabilitation Using Impedance Adaptation Based Challenge Level Adjustment Method

Hand-Exoskeleton Assisted Progressive Neurorehabilitation Using Impedance Adaptation Based Challenge Level Adjustment Method

A new hybrid teaching–learning particle swarm optimization algorithm for synthesis of linkages to generate path

Design of a variable stiffness index finger exoskeleton

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