Hostname: page-component-cd9895bd7-hc48f Total loading time: 0 Render date: 2024-12-27T07:14:26.986Z Has data issue: false hasContentIssue false
  • English
  • Français

Design of a variable stiffness index finger exoskeleton

Published online by Cambridge University Press:  09 August 2021

Abhishek Attal  and
Ashish Dutta Open the ORCID record for Ashish Dutta [Opens in a new window]
Abhishek Attal
Affiliation:
Department of Mechanical Engineering, IIT Kanpur, Kanpur 208016, India
Ashish Dutta*
Affiliation:
Department of Mechanical Engineering, IIT Kanpur, Kanpur 208016, India
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

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.

Keywords

index finger exoskeletonvariable stiffnessfour-bar mechanismfinite element analysis
Type
Research Article
Information
Robotica , Volume 40 , Issue 4 , April 2022 , pp. 1151 - 1167
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Chowdhury, A., Meena, Y. K., Raza, H., Bhushan, B., Uttam, A. K., Pandey, N., Hashmi, A. A., Bajpai, A., Dutta, A. and Prasad, G., “Active physical practice followed by mental practice using BCI-driven hand exoskeleton: a pilot trial for clinical effectiveness and usability,” IEEE J Biomed Health Inform. 22(6), pp. 1786–1795 (2018).CrossRefGoogle ScholarPubMed
Rathee, D., Chowdhury, A., Meena Ashish Dutta, Y. K., McDonough, S. and Prasad, G., “Brain-machine interface driven post-stroke upper-limb functional recovery correlates with beta-band mediated cortical networks,” IEEE Trans Neural Syst Rehabil Eng. 27(5), pp. 1020–1031 (2019).CrossRefGoogle ScholarPubMed
Amirabdollahian, F., Ates, S., Basteris, A., Cesario, A., Buurke, J., Hermens, H., Hofs, D., Johansson, E., Mountain, G., Nasr, N., Nijenhuis, S., Prange, G., Rahman, N., Sale, P., Schatzlein, F., van Schooten, B. and Stienen, A., “Design, development and deployment of a hand/wrist exoskeleton for home-based rehabilitation after stroke – SCRIPT project,” Robotica. 32, pp. 1331–1346 (2014).CrossRefGoogle Scholar
Wang, Q., Vitiello, N., Mohammed, S. and Agrawal, S., “Special issue on wearable robotics: dynamics, control and Applications,” Robotica. 37, pp. 2011–2013 (2019).Google Scholar
Sandoval-Gonzalez, O., Jacinto-Villegas, J., Herrera-Aguilar, I., Portillo-Rodiguez, O., Tripicchio, P., Hernandez-Ramos, M., Flores-uautle, A. and Avizzano, C., “Design and development of a hand exoskeleton robot for active and passive rehabilitation,” Int J Adv Rob Syst. doi: 10.5772/62404.CrossRefGoogle Scholar
MartÍnez, A., Arias-Montiel, M., Lugo-GonzÁlez, E. and Tapia-Herrera, R., “Two-finger exoskeleton with force feedback for a mobilerobot teleoperation,” Int J Adv Rob Syst. doi: 10.1177/1729881419895648.CrossRefGoogle Scholar
Chen, Z., Fan, S. and Zhang, D., “An exoskeleton system for hand rehabilitation based on master-slave control,” In: Intelligent Robotics and Applications (Zhang, X, Liu, H and Chen, Z, eds.), (Springer International Publishing, Switzerland, 2014) pp. 242–253.Google Scholar
Cortese, M., Cempini, M., de Almeida-Ribeiro, P. R., “A mechatronic system for robot-mediated hand telerehabilitation,” IEEE/ASME Trans. Mechatron. 20(4), 1753–1764 (2014).Google Scholar
Cempini, M., Cortese, M. and Vitiello, N., “A powered finger thumb wearable hand exoskeleton with self-aligning joint axes”. IEEE/ASME Trans Mechatron. 20(2), 705–716 (2015).CrossRefGoogle Scholar
Zhou, M. A. and Ben-Tzvi, P., “RML glove – an exoskeleton glove mechanism with haptics feedback,” IEEE/ASME Trans Mechatron. 20(2), pp. 641–652 (2015).Google Scholar
Conti, R., Meli, E. and Ridolfi, A., “A novel kinematic architecture for portable hand exoskeletons,” Mechatronics. 35, pp. 192–207 (2016).CrossRefGoogle Scholar
Haghshenas-Jaryani, M., Patterson, R. M., Bugnariu, N. and Wijesundara, M. B. J., “A pilot study on the design and validation of a hybrid exoskeleton robotic device for hand rehabilitation,” J Hand Ther. 33(2), pp. 198–208 (2020).CrossRefGoogle ScholarPubMed
Brown, P., Jones, D., Singh, S. K and Rosen, J. M, “The exoskeleton glove for control of paralyzed hands”, Proc Int Conf Rob Autom. pp. 642–647 (1993).Google Scholar
Zhang, F., Hua, L., Fu, Y., Chen, H. and Wang, S., “Design and development of a hand exoskeleton for rehabilitation of hand injuries,” Mech Mach Theory, 73, pp. 103–116 (2014).CrossRefGoogle Scholar
Jo, I., Park, Y., Lee, J., Bae, J., “A portable and spring-guided hand exoskeleton for exercising flexion/extension of the fingers,” Mech Mach Theory, 135, pp.176–191 (2019).CrossRefGoogle Scholar
Hasegawa, Y. and Kitamura, O., “Advantage of variable stiffness of human fingers for key insertion task,” Proc ASME/IEEE Int Conf Adv Intell. Mechatron. pp.1230–1235 (2014).CrossRefGoogle Scholar
Bianchi, M., Cempinib, M., Contia, R., Melia, E., Ridolfia, A., Vitiellob, N. and Allotta, B., “Design of a series elastic transmission for hand exoskeletons,” Mechatronics. 51, pp. 8–18 (2018).CrossRefGoogle Scholar
Jo, I. and Bae, J., “Design and control of a wearable and force-controllable hand exoskeleton system,” Mechatronics. 41, pp. 90–101 (2017).CrossRefGoogle Scholar
Marconi, D., Baldoni, A., McKinneya, Z., Cempini, M., Creaa, S. and Vitielloa, N., “A novel hand exoskeleton with series elastic actuation for modulated torque transfer,” Mechatronics. 61, pp. 69–82 (2019).CrossRefGoogle Scholar
Agarwal, P., Yun, Y., Fox, J., Madden, K. and Deshpande, A. D., “Design, control, and testing of a thumb exoskeleton with series elastic actuation,” Int J Rob Res. 36(3), pp. 355–375 (2017).CrossRefGoogle Scholar
Chowdhury, A., Sunder Nishad, S., Meena, Y., Dutta, A. and Prasad, G., “Hand-exoskeleton assisted progressive neurorehabilitation using impedance adaptation based challenge level adjustment method,” IEEE Trans Haptics. 12(2), pp. 128–140 (2018).CrossRefGoogle Scholar
Nishad, S. S., Dutta, A. and Saxena, A., “Design and control of a three finger hand exoskeleton for translation of a slender object,” In: Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), (2014), pp. 179–184.Google Scholar
Ghosh, A. and Mallik, A. K., Theory of Mechanisms and Machines (Affiliated East-West Press, India, 1994).Google Scholar
Xu, D. and Ananthasuresh, G. K., “Freeform skeletal shape optimization of compliant mechanisms”, ASME J Mech Des. 125(2), pp. 253–261 (2003).CrossRefGoogle Scholar
Hutton, D. V., Fundamentals of Finite Element Analysis (McGraw Hill Publications, New York, 2004).Google Scholar
Howel, L., Compliant Mechanisms (Willey Inderscience, New York, 2006).Google Scholar