Design and Prototyping of an Underactuated Hand Exoskeleton With Fingers Coupled by a Gear-Based Differential.

Autor:	Dragusanu M; Department of Information Engineering and Mathematics, University of Siena, Siena, Italy., Troisi D; Information Engineering Department, University of Pisa, Pisa, Italy., Villani A; Department of Information Engineering and Mathematics, University of Siena, Siena, Italy., Prattichizzo D; Department of Information Engineering and Mathematics, University of Siena, Siena, Italy.; Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy., Malvezzi M; Department of Information Engineering and Mathematics, University of Siena, Siena, Italy.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2022 Mar 29; Vol. 9, pp. 862340. Date of Electronic Publication: 2022 Mar 29 (Print Publication: 2022).
DOI:	10.3389/frobt.2022.862340
Abstrakt:	Exoskeletons and more in general wearable mechatronic devices represent a promising opportunity for rehabilitation and assistance to people presenting with temporary and/or permanent diseases. However, there are still some limits in the diffusion of robotic technologies for neuro-rehabilitation, notwithstanding their technological developments and evidence of clinical effectiveness. One of the main bottlenecks that constrain the complexity, weight, and costs of exoskeletons is represented by the actuators. This problem is particularly evident in devices designed for the upper limb, and in particular for the hand, in which dimension limits and kinematics complexity are particularly challenging. This study presents the design and prototyping of a hand finger exoskeleton. In particular, we focus on the design of a gear-based differential mechanism aimed at coupling the motion of two adjacent fingers and limiting the complexity and costs of the system. The exoskeleton is able to actuate the flexion/extension motion of the fingers and apply bidirectional forces, that is, it is able to both open and close the fingers. The kinematic structure of the finger actuation system has the peculiarity to present three DoFs when the exoskeleton is not worn and one DoF when it is worn, allowing better adaptability and higher wearability. The design of the gear-based differential is inspired by the mechanism widely used in the automotive field; it allows actuating two fingers with one actuator only, keeping their movements independent. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. (Copyright © 2022 Dragusanu, Troisi, Villani, Prattichizzo and Malvezzi.)
Databáze:	MEDLINE
Externí odkaz:	Zobrazit plný text záznamu