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Human hand compatible underactuated exoskeleton robotic system

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

Authors

N. G. Tsagarakis

D. G. Caldwell



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; F
Public URL https://hull-repository.worktribe.com/output/3797126