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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
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Published on: May 20, 2020

Jointless structure and under-actuation mechanism for compact hand exoskeleton.

HyunKi In1, Kyu-Jin Cho, KyuRi Kim

  • 1Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Republic of Korea. inhk8357@snu.ac.kr

IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
|January 26, 2012
PubMed
Summary

This study introduces a lightweight, compact hand exoskeleton using a jointless structure and novel under-actuation. The developed prototype weighs 80g and demonstrates sufficient force for daily tasks, proving its feasibility.

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Area of Science:

  • Robotics
  • Biomechanics
  • Assistive Technology

Background:

  • Traditional wearable robots face size and complexity issues due to rigid frames and pin joints.
  • Human finger anatomy presents challenges for conventional robotic hand designs.
  • Reducing weight and size is crucial for practical assistive wearable robots.

Purpose of the Study:

  • To design a compact and lightweight hand exoskeleton.
  • To overcome the limitations of traditional pin-jointed structures.
  • To develop a novel under-actuation mechanism for improved robotic hand functionality.

Main Methods:

  • Development of a jointless structure that utilizes the human skeletal system.
  • Implementation of a novel under-actuation mechanism to reduce actuator requirements.
  • Fabrication and testing of an 80-gram prototype hand exoskeleton.

Main Results:

  • The prototype hand exoskeleton achieved a weight of only 80 grams.
  • Fingertip force was measured at 18 N, adequate for simple daily pinch motions.
  • Blocked force was measured at a sufficiently low 0.5 N, indicating effective under-actuation.

Conclusions:

  • The proposed jointless structure and novel under-actuation mechanism significantly reduce size and weight.
  • The developed hand exoskeleton prototype demonstrates feasibility for assistive applications.
  • The design offers a promising solution for compact and lightweight wearable robotic hands.