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Related Experiment Video

Updated: Aug 17, 2025

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

A Cost-Effective, Integrated Haptic Device for an Exoskeletal System.

Maciej Rećko¹, Kazimierz Dzierżek¹, Rafał Grądzki¹

¹Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska st. 45C, 15-351 Białystok, Poland.

Sensors (Basel, Switzerland)

|December 11, 2022

Summary

Researchers developed a cost-effective integrated sensor-effector for exoskeletal haptic devices, enabling joint rotation monitoring and passive force feedback. This innovation offers a viable alternative to current market offerings.

Keywords:

electromagnet force feedback integrated haptic device passive haptic system

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Area of Science:

Robotics and Human-Computer Interaction
Biomedical Engineering

Background:

Existing exoskeletal haptic devices often lack cost-effectiveness or specific functionalities.
There is a market need for integrated sensor-effector solutions that monitor joint rotation and provide passive force feedback.

Approach:

Designed and simulated an innovative integrated sensor-effector for exoskeletal haptic devices.
Investigated magnetic force interactions (one/two magnets on a steel plate) to validate design principles.
Fabricated and experimentally evaluated a physical model of the integrated joint.

Key Points:

The proposed design integrates sensing and actuation for joint rotation monitoring and passive force feedback.
Magnetic force analysis was conducted to verify the design concept.
The fabricated model demonstrated performance comparable to commercial devices.

Conclusions:

The developed sensor-effector is cost-effective, utilizing standard and inexpensive components.
The device is lightweight and provides a 19 Nm braking torque suitable for upper-limb exoskeletal haptic applications.