Design and Optimization of a Multi-DOF Hand Exoskeleton for Haptic Applications
| Autor: | Hamed Ghafarirad, Alireza Saboukhi, S. Mehdi Rezaei, M. Rahimi Gorii, Rasul Fesharakifard, Ehsan Amirpour, Mohammad Savabi |
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| Rok vydání: | 2019 |
| Předmět: |
Kinematic chain
0209 industrial biotechnology Computer science Underactuation Control engineering 02 engineering and technology Kinematics Workspace 021001 nanoscience & nanotechnology Exoskeleton Mechanism (engineering) 020901 industrial engineering & automation Impact 0210 nano-technology Haptic technology |
| Zdroj: | 2019 7th International Conference on Robotics and Mechatronics (ICRoM). |
| DOI: | 10.1109/icrom48714.2019.9071884 |
| Popis: | This paper describes the design and kinematic optimization of a novel, underactuated, linkage driven exoskeleton mechanism to provide haptic force feedback to the index and thumb fingers. Existing exoskeletons are either not compatible with the human hand kinematic chain or so heavy that they cannot be compatibly installed on a human hand, which in turn affects the natural motion of the hand. In order to improve functionalities, the design of a novel (HEXON11Hand Exoskeleton of New technologies research center) based on a multi-criteria optimization is proposed to simultaneously maximize applied force to the finger and workspace of the attached exoskeleton. The optimization procedure consists of both the Perpendicular Impact Force (PIF) and the Global Isotropy Index (GIl), considering worst-case collision avoidance. Finally, the exoskeleton mechanism functionalities within the achieved link length through the optimization procedure are validated, and design is proposed for further fabrication. |
| Databáze: | OpenAIRE |
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