Qualitative Stability Analysis of Soft Hand Exoskeleton Based on Tendon-driven Mechanism

Park, Junghoon; Heo, Pilwon; Kim, Jung; Na, Youngjin

doi:10.1007/s12541-020-00383-z

Cited by 7 publications

(3 citation statements)

References 18 publications

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“…In this regard, researchers devised diverse strategies to assist the strength and accurate control of the motor functions of the hands. Most of the research focused on assisting flexion and extension of fingers because these movements are mainly employed to grasp the objects [91][92][93][94][95][96][97][98][99][100][101]. In many hand exoskeleton studies, it is of foremost importance to sense the relative moduli of different objects in real-time in order to compute the grasp force so that the exoskeletons can generate force accordingly since it requires different grasping forces to hold objects of different moduli.…”

Section: Hand Exoskeletonsmentioning

confidence: 99%

Recent advances in wearable exoskeletons for human strength augmentation

Lee¹,

Kwon²,

Yeo³

2022

Flex. Print. Electron.

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The decline in muscular strength and control due to age or stroke-related side-effect has afflicted many individuals with neuromotor disorders because it affects essential motor functions to perform everyday activities and restrains their functional independence. In this regard, a myriad of wearable exoskeletons and functional components have been developed to deliver mechanical force for assisting the movements of different human body parts. However, many of the reported wearable exoskeletons suffer from several critical drawbacks that limit functional usage and practicality despite the significant technological advance of general wearable exoskeletons. This review offers a comprehensive summary of the recent advances of wearable exoskeletons and their constituting functional components. In addition, we discuss the essential challenges that need to be tackled to enhance the functional practicality of the next-generation wearable exoskeletons in assisting the strength and control of individuals with neuromotor disorders.

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Section: Hand Exoskeletonsmentioning

confidence: 99%

Recent advances in wearable exoskeletons for human strength augmentation

Lee¹,

Kwon²,

Yeo³

2022

Flex. Print. Electron.

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show abstract

“…Second, the control systems of soft hands are relatively complex, potentially requiring advanced algorithms and sensing technologies to achieve fine manipulation similar to human hands [21,22]. The high coordination and flexibility exhibited by human hands during various tasks may necessitate further research and technological innovation for soft hands, while durability and stability present additional challenges [23,24], requiring attention.…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Wang,

Hao,

Liu

et al. 2024

Actuators

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Humans possess dexterous hands that surpass those of other animals, enabling them to perform intricate, complex movements. Soft hands, known for their inherent flexibility, aim to replicate the functionality of human hands. This article provides an overview of the development processes and key directions in soft hand evolution. Starting from basic multi-finger grippers, these hands have made significant advancements in the field of robotics. By mimicking the shape, structure, and functionality of human hands, soft hands can partially replicate human-like movements, offering adaptability and operability during grasping tasks. In addition to mimicking human hand structure, advancements in flexible sensor technology enable soft hands to exhibit touch and perceptual capabilities similar to humans, enhancing their performance in complex tasks. Furthermore, integrating machine learning techniques has significantly promoted the advancement of soft hands, making it possible for them to intelligently adapt to a variety of environments and tasks. It is anticipated that these soft hands, designed to mimic human dexterity, will become a focal point in robotic hand development. They hold significant application potential for industrial flexible gripping solutions, medical rehabilitation, household services, and other domains, offering broad market prospects.

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“…Recently soft materials have been widely used in hand exoskeletons due to their portability and good interactivity, which bring better comfort and convenience to wearers. Four main different actuation methods are widely used in compliant hand exoskeletons, including pneumatic actuation [8][9][10][11], tendon-driven actuation [12][13][14][15][16][17][18][19], elastomeric actuation [20][21][22], and hybrid-driven actuation [23][24][25].…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2021

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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.

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Qualitative Stability Analysis of Soft Hand Exoskeleton Based on Tendon-driven Mechanism

Cited by 7 publications

References 18 publications

Recent advances in wearable exoskeletons for human strength augmentation

Recent advances in wearable exoskeletons for human strength augmentation

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

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

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