HEXOSYS II - Towards realization of light mass robotics for the hand

Iqbal, Jamshed; Ahmad, Omar; Malik, Ahsan

Abstract

This research presents a prototype of a direct-driven, optimized and light-mass hand exoskeleton that is designed to fit over the dorsal side of the hand, thus retaining palm free for interaction with real/virtual objects. The link lengths of the proposed Hand EXOskeleton SYStem (HEXOSYS) TT have been selected based on an optimization algorithm. In an attempt to make the design human hand compatible, the actuators of HEXOSYS II have been chosen as a result of series of experiments on human hands of various sizes. The system based on an optimum under-actuated mechanism provides 3 DOF/finger. The resultant motion of the exoskeleton allows the wearer to perform flexion/abduction as well as passive abduction/adduction. Simple and under-actuated mechanisms together with compact mechanical design lead to realize a light mass robotic system. The first prototype of HEXOSYS II has been fabricated. Comprising of four fingers, which are enough to accomplish most of our daily life activities, the system weighs 600 grams. © 2011 IEEE.

Citation

Iqbal, J., Ahmad, O., & Malik, A. (2011, December). HEXOSYS II - Towards realization of light mass robotics for the hand. Presented at 2011 IEEE 14th International Multitopic Conference (INMIC), Karachi, Pakistan

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2011 IEEE 14th International Multitopic Conference (INMIC)
• Start Date: Dec 22, 2011
• End Date: Dec 24, 2011
• Publication Date: Feb 13, 2012
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Apr 28, 2022
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 115-119
• Book Title: 2011 IEEE 14th International Multitopic Conference (INMIC)
• ISBN: 9781457706554
• DOI: https://doi.org/10.1109/INMIC.2011.6151454
• Public URL: https://hull-repository.worktribe.com/output/3797250
• Publisher URL: https://ieeexplore.ieee.org/document/6151454