4
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: not found

      A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation.

      Read this article at

      ScienceOpenPublisherPMC
      Bookmark
          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          Abstract

          This paper describes the design and control of a novel hand exoskeleton. A subcategory of upper extremity exoskeletons, hand exoskeletons have promising applications in healthcare services, industrial workplaces, virtual reality, and military. Although much progress has been made in this field, most of the existing systems are position controlled and face several design challenges, including achieving minimal size and weight, difficulty enforcing natural grasping motions, exerting sufficient grip strength, ensuring the safety of the users hand, and maintaining overall user friendliness. To address these issues, this paper proposes a novel, slim, lightweight linkage mechanism design for a hand exoskeleton with a force control paradigm enabled via a compact series elastic actuator. A detailed design overview of the proposed mechanism is provided, along with kinematic and static analyses. To validate the overall proposed hand exoskeleton system, a fully integrated prototype is developed and tested in a series of experimental trials.

          Related collections

          Author and article information

          Journal
          J Mech Robot
          Journal of mechanisms and robotics
          ASME International
          1942-4302
          1942-4302
          Dec 2019
          : 11
          : 6
          Affiliations
          [1 ] Mem. ASME, Robotics and Mechatronics Lab, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24060.
          Article
          NIHMS1551401
          10.1115/1.4044543
          8078844
          33912323
          c4d747cd-9851-4784-8ef8-41609ba0756f
          History

          actuators and transmissions,compliant mechanisms,grasping and fixturing,multi-body dynamics and exoskelotons,wearable robots

          Comments

          Comment on this article