A multi-DOF robotic exoskeleton interface for hand motion assistance

Iqbal, Jamshed; Tsagarakis, Nikos G.; Caldwell, Darwin G.

Abstract

This paper outlines the design and development of a robotic exoskeleton based rehabilitation system. A portable direct-driven optimized hand exoskeleton system has been proposed. The optimization procedure primarily based on matching the exoskeleton and finger workspaces guided the system design. The selection of actuators for the proposed system has emerged as a result of experiments with users of different hand sizes. Using commercial sensors, various hand parameters, e.g. maximum and average force levels have been measured. The results of these experiments have been mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been analysed followed by the design and realization of the first prototype. The system provides both position and force feedback sensory information which can improve the outcomes of a professional rehabilitation exercise. © 2011 IEEE.

Citation

Iqbal, J., Tsagarakis, N. G., & Caldwell, D. G. (2011). A multi-DOF robotic exoskeleton interface for hand motion assistance. In 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2011) (1575-1578). https://doi.org/10.1109/IEMBS.2011.6090458

• Conference Name: 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society
• Conference Location: Boston, MA, USA
• Start Date: Aug 30, 2011
• End Date: Sep 3, 2011
• Publication Date: Dec 1, 2011
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Mar 9, 2022
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 1575-1578
• Book Title: 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2011)
• ISBN: 9781424441211
• DOI: https://doi.org/10.1109/IEMBS.2011.6090458
• Public URL: https://hull-repository.worktribe.com/output/3797242