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Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes

Iqbal, J.; Tsagarakis, N. G.; Caldwell, D. G.

Authors

N. G. Tsagarakis

D. G. Caldwell



Abstract

A wearable hand exoskeleton (EXO) device that permits exertion of bidirectional forces on finger phalanges throughout the human finger workspace is proposed. The novelty of the proposed device lies in its direct-driven, portable and optimised mechanism with the ability to adjust variable hand sizes in addition to other distinguishing features. The adjustable link lengths and structure of the device have emerged from kinematic-based optimisation criterion, which targets the natural finger workspace. The selection of actuators for the EXO is backed by the results of experiments conducted using appropriate sensory instrumentation to measure the force exertion levels of a human hand. A four-fingered prototype of the EXO is designed and fabricated. The device is then subjected to various test inputs to characterise the tracking performance. Preliminary results demonstrate that the proposed device can flex and extend the fingers following accurate trajectories.

Citation

Iqbal, J., Tsagarakis, N. G., & Caldwell, D. G. (2015). Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes. Electronics letters, 51(12), 888-890. https://doi.org/10.1049/el.2015.0850

Journal Article Type Article
Acceptance Date Dec 1, 2014
Online Publication Date Jun 1, 2015
Publication Date Jun 1, 2015
Deposit Date Sep 14, 2021
Publicly Available Date Mar 28, 2024
Journal Electronics Letters
Print ISSN 0013-5194
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Volume 51
Issue 12
Pages 888-890
DOI https://doi.org/10.1049/el.2015.0850
Keywords Human-robot interaction; Manipulator kinematics; Optimisation; Four-fingered lightweight exoskeleton robotic device; Hand sizes; Wearable hand exoskeleton device; Bidirectional forces exertion; Finger phalanges; Human FIN workspace; EXO; Adjustable link l
Public URL https://hull-repository.worktribe.com/output/3797113

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Copyright Statement
© The Institution of Engineering and Technology 2015





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