Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model

Abstract

This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.

Hand Rehabilitation Devices: A Comprehensive Systematic Review

“…VSFH [71] VSFH is an exoskeleton device designed with a variable stiffness in each joint. Using FSRs and a cable-driven system, the VSFH device can provide passive rehabilitation and conduct common ADLs Meeker et al [72] Meeker et.…”

“…A mathematical model for a hybrid-driven exoskeleton [ 71 ] for a hand is provided in Figure 6 . The device is described as hybrid-driven as the device is actuated using active tendon-driven actuation and passive flexible-hinge joints.…”

“…The device is described as hybrid-driven as the device is actuated using active tendon-driven actuation and passive flexible-hinge joints. The following equations were derived from Meng’s development of the Variable Stiffness Fixed Hinge (VSFH) device [ 71 ]. Using Figure 6 a,b, the kinematics of a single finger is projected onto a two-dimensional xy-plane.…”

“… The base design principle for the hybrid-driven compliant hand exoskeleton [ 71 ]. ( a ) Basic design principle of the hand exoskeleton.…”

Dynamic Analysis and Experimental Study of Lasso Transmission for Hand Rehabilitation Robot

“…As a new field of robotics, over the past decade, rehabilitation robots have attracted more attention from researchers and rehabilitation doctors. Various hand rehabilitation robots have been developed to train the motor function of stroke patients' hands [6][7][8][9][10]. Generally, hand rehabilitation robots can be divided into three categories: exoskeleton robots, flexible exoskeleton robots, and flexible gloves.…”