Human hand compatible underactuated exoskeleton robotic system

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

Abstract

A novel direct-driven and portable exoskeleton robotic system for the hand is proposed. The system design is based on the multi-parametric optimisation procedure, which considers isotropy, dexterity and exertion of perpendicular forces on the finger phalanges. Actuators for the proposed device were selected based on results of experiments with users having different hand sizes. These experiments measured various parameters including average and maximum force exertion levels of a human hand. The experimental results were used to realise the mechanical design and to develop a prototype. The device can exert force levels (of 45 N) beyond any existing hand exoskeleton. Preliminary trials carried out on the fabricated prototype dictate efficacy and potential of the proposed system.

Citation

Iqbal, J., Tsagarakis, N. G., & Caldwell, D. G. (2014). Human hand compatible underactuated exoskeleton robotic system. Electronics letters, 50(7), 494-496. https://doi.org/10.1049/el.2014.0508

• Journal Article Type: Article
• Acceptance Date: Feb 1, 2014
• Online Publication Date: Mar 1, 2014
• Publication Date: Mar 1, 2014
• Deposit Date: Sep 14, 2021
• Journal: Electronics Letters
• Print ISSN: 0013-5194
• Publisher: Institution of Engineering and Technology (IET)
• Peer Reviewed: Peer Reviewed
• Volume: 50
• Issue: 7
• Pages: 494-496
• DOI: https://doi.org/10.1049/el.2014.0508
• Keywords: Actuators; Robots; Human hand compatible under-actuated exoskeleton robotic system; Portable exoskeleton robotic system; Direct-driven exoskeleton robotic system; Multiparametric optimisation procedure; Isotropy; Dexterity; Perpendicular force exertion; Finger phalanges; Maximum force exertion levels; Mechanical design; Fabricated prototype dictate efficacy
• Public URL: https://hull-repository.worktribe.com/output/3797126