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A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation
Eric M Refour1, Bijo Sebastian1, Raghuraj J Chauhan1
1Mem. ASME, Robotics and Mechatronics Lab, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24060.
Journal of Mechanisms and Robotics
|April 29, 2021
Summary
This study introduces a new, lightweight hand exoskeleton with force control for improved grasping. The novel design addresses limitations of existing systems, enhancing user safety and friendliness in various applications.
Area of Science:
- Robotics and Biomechanics
- Rehabilitation Engineering
- Human-Computer Interaction
Background:
- Hand exoskeletons offer potential in healthcare, industry, VR, and military applications.
- Existing position-controlled systems face challenges in size, weight, natural grasping, grip strength, safety, and user-friendliness.
Purpose of the Study:
- To propose a novel, slim, and lightweight hand exoskeleton design.
- To implement a force control paradigm using a compact series elastic actuator.
- To address limitations of current hand exoskeleton technologies.
Main Methods:
- Detailed design overview of a novel linkage mechanism.
- Kinematic and static analyses of the proposed design.
- Development and experimental testing of an integrated prototype.
Main Results:
- The proposed design facilitates a slim and lightweight hand exoskeleton.
- Force control is achieved through a compact series elastic actuator.
- Experimental trials validated the integrated prototype's functionality.
Conclusions:
- The novel hand exoskeleton design with force control offers a promising solution.
- The system addresses key challenges in size, weight, and grasping capabilities.
- The developed prototype demonstrates feasibility for diverse applications.
