Design and Development of Low Cost Hand Exoskeleton for Rehabilitation

Durairajah, Vickneswari; Gobee, Suresh; Rauf, Waleed; Ngie, Kok Sin; Lim, John Hong Aun

doi:10.1007/978-981-10-7554-4_18

Cited by 7 publications

(3 citation statements)

References 2 publications

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“…The device is aimed at solving the mechanical problem in a way that adapts to the geometrical and behavioral parameters of the biological hand. The analysis of a variety of designs based on a rigid mechanical structure present in this field of research [1,4,5,20,27,28,45], showed some remarkably distinct types of construction. The solution developed by Chiri et al [6], considering the direct matching of the finger joint centers, is a good one, due to its compliance with the asymmetric behavior of the human hand's biomechanics.…”

Section: Discussionmentioning

confidence: 99%

“…This paper presents research and advances in the field of medical robotics, with a focus on data analysis of the symmetrical and asymmetrical mechanical behavior of the human hand during motor therapy rehabilitation using a novel robotic exoskeleton. As seen in numerous works regarding rigid exoskeleton applications for the human hand [1,2], there are a wide range of applications in this field that include medical [3][4][5], military, aerospace [6], and industrial uses. The need to augment the human body is driven by recent advances in technology [7,8] and the increasing automation of daily living [9].…”

Section: Introductionmentioning

confidence: 99%

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Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

et al. 2020

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Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

et al. 2020

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“…Durairajah et al [ 13 ] proposed a low cost hand exoskeleton developed for rehabilitation, where a healthy hand is used to control the unhealthy hand. The authors used flex sensors attached to the leather glove on the metacarpophalangeal, proximal interphalangeal, and interphalangeal joints to control the unhealthy hand via servo motors, and claimed 92.75% efficiency of testing.…”

Section: Introductionmentioning

confidence: 99%

AISRA: Anthropomorphic Robotic Hand for Small-Scale Industrial Applications

Devaraja

Maskeliūnas

Damaševičius

2020

Computational Science and Its Applications – ICCSA 2020

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We describe the design of the multi-finger anthropomorphic robotic hand for small-scale industrial applications, called AISRA (Anthropomorphic Interface for Stimulus Robust Applications), which can feel and sense the object that it is holding. The robotic hand was printed using the 3D printer and includes the servo bed for finger movement. The data for object recognition was collected using Leap Motion controller, and Naïve Bayes classifier was used for training and classification. We have trained the robotic hand on several monotonous objects used in daily life using supervised machine learning techniques and the gesture data obtained from the Leap Motion controller. The mean accuracy of object recognition achieved is 92.1%. The Naïve Bayes algorithm is suitable for using with the robotic hand to predict the shape objects in its hands based on the angular position of its figures. Leap Motion controller provides accurate results and helps to create a dataset of object examples in various forms for the AISRA robotic hand, and can be used to help developing and training 3D-printed anthropomorphic robotic hands. The experiments in object grasping experiments demonstrated that the AISRA robotic hand can grasp objects with different size and shape, and verified the feasibility of robot hand design using low-cost 3D printing technology. The implementation can be used for small-scale industrial applications.

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Development and testing of a mixed feedback control system for robotic hand exoskeleton

Birouas

Ţarcă

2019

2019 15th International Conference on Engineering of Modern Electric Systems (EMES)

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Design and Development of Low Cost Hand Exoskeleton for Rehabilitation

Cited by 7 publications

References 2 publications

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

AISRA: Anthropomorphic Robotic Hand for Small-Scale Industrial Applications

Development and testing of a mixed feedback control system for robotic hand exoskeleton

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