Design of dexterous hands based on parallel finger structures

Xiao-dong, Jin; Fang, Yuefa; Zhang, Dan; Gong, Junshan

doi:10.1016/j.mechmachtheory.2020.103952

Cited by 21 publications

(12 citation statements)

References 26 publications

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“…Figure 2d,e display different configurations of the human upper limb and exoskeleton system and their corresponding manipulability ellipses in high and low region of manipulability. Moreover, the manipulability analysis gives us information about the uniform distribution of the forces and torques applied by the exoskeleton system to the human upper limb [30]. Another important aspect of analyzing the manipulability ellipse is to identify the singular configuration of the exoskeleton system in the workspace.…”

Section: Workpace and Singularity Analysismentioning

confidence: 99%

A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

et al. 2021

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Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

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Section: Workpace and Singularity Analysismentioning

confidence: 99%

A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

et al. 2021

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“…Here, γ (q o , t) 6. Differentiating the servo constraints (5.4) with respect to t is γ (q o , qo , qo , t) + K γ (q o , qo , t) = 0.…”

Section: The Manipulation Control Design Of the Multi-fingered Hand Robotmentioning

confidence: 99%

“…Theorem 3 Let ω(t) = γ T (q o (t), qo (t), t) , γ T (q o (t), t)] T ∈ R 6 . Consider the multi-fingered hand robot (5.1) and the servo constraint (5.6).…”

Section: The Manipulation Control Design Of the Multi-fingered Hand Robotmentioning

confidence: 99%

“…The hand robot, by mimicking the humanoid fingers and palm, could accomplish various kinds of dexterous manipulations and has many potential applications, such as medical rehabilitation [1,2], space exploration [3], domestic service [4,5] and industrial manufacturing [6,7]. To realize the complex tasks in the above sophisticated fields, the multiple fingers of the hand robot collaboratively grasp and manipulate the target object through the contacts between the fingertips (occasionally, the palm) and the object.…”

Section: Introductionmentioning

confidence: 99%

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Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Zhao

Yang

et al. 2021

Nonlinear Dyn

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A novel analytical modeling and dynamic manipulation control method of the multi-fingered hand robot has been proposed in the paper. Based on the contact constraints, the explicit dynamics modeling of the hand robot manipulating an object is hierarchically established by Udwadia-Kalaba equation with no auxiliary variable (e.g., Lagrange multipliers or quasi-generalized variables). Through the second order of the contact constraints, the grasping forces of the hand robot in the manipulation work space are derived explicitly and decoupled with the control torques of the finger joints. Consider the hand robot and the object as an entire system in the control design. Motivated by Udwadia's work, the manipulation task of the grasped object is novelly used to formulate a set of servo constraints. In virtue of following the servo constraints, the hand robot can manipulate the object to accomplish the desired task. With the formulated contact forces model, a model-based dynamic control method is proposed for the hand robot to handle the object, which does not depend on the force feedback from the fingertips sensors (force sensorless). The system performance under

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“…To this end, a new soft parallel robot is designed in this work by integrating the concepts of soft robots and parallel robots. Unlike the serial-kinematic robot with multiple links and joints connected in series (such as a robotic arm), the end-effector of a parallel robot is connected to the base by multiple limbs in parallel, providing a larger output stiffness 22,23 . Hence, the proposed soft parallel robot exhibits the advantages of both soft robots and parallel robots for wrist rehabilitation.…”

mentioning

confidence: 99%

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

Wang

2021

Sci Rep

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Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.

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Design of dexterous hands based on parallel finger structures

Cited by 21 publications

References 26 publications

A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

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