Abstract
In this study, we present an underactuated hand exoskeleton with the adaptation for the shape and the size of the objects during grasping tasks. The realism of the grasping tasks are improved by allowing only the normal transmission of the forces on the finger phalanges. The absence of the tangential forces allows the device to be attached to the user’s finger in an easy and comfortable manner for the operation. Furthermore, the finger size adjustability can be ensured by the linkage-based design. Underactuation assures the automatic adjustability of the device for the grasping objects, while preventing the posture control of the finger phalanges. The undersensing disadvantage of the underactuation approach is suggested to be overcome by utilizing an additional potentiometer on the device in order to estimate the finger joints and the pose analysis of the mechanism during operation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Aubin P, Sallum H, Walsh C, Stirling L, Correia A (2013) A pediatric robotic thumb exoskeleton for at-home rehabilitation: the isolated orthosis for thumb actuation (IOTA). In: IEEE international conference on rehabilitation robotics (ICORR). pp 1–6 (2013)
Ertas IH, Hocaoglu E, Patoglu V (2014) AssistOn-Finger: an under-actuated finger exoskeleton for robot-assisted tendon therapy. Robotica
Hasegawa Y, Tokita J, Kamibayashi K, Sankai Y (2011) Evaluation of fingertip force accuracy in different support conditions of exoskeleton. In: IEEE international conference on robotics and automation (ICRA). pp 680–685
Iqbal J, Tsagarakis NG, Caldwell DG (2014) Human hand compatible underactuated exoskeleton robotic system. Electron Lett 50(7):494–496
Jones C, Wang F, Morrison R, Sarkar N, Kamper D (2014) Design and development of the cable actuated finger exoskeleton for hand rehabilitation following stroke. IEEE/ASME Trans Mechatron 19(1):131–140
Laliberte T, Birglen L, Gosselin C (2002) Underactuation in robotic grasping hands. Mach Intell Rob Control 4(3):1–11
Leonardis D, Barsotti M, Loconsole C, Solazzi M, Troncossi M, Mazzotti C, Parenti Castelli V, Procopio C, Lamola G, Chisari C et al (2015) An emg-controlled robotic hand exoskeleton for bilateral rehabilitation
Nycz CJ, Btzer T, Lambercy O, Arata J, Fischer GS, Gassert R (2016) Design and characterization of a lightweight and fully portable remote actuation system for use with a hand exoskeleton. IEEE Robot Autom Lett 1(2):976–983
Taheri H, Rowe JB, Gardner D, Chan V, Gray K, Bower C, Reinkensmeyer DJ, Wolbrecht ET (2014) Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play. J NeuroEng Rehabil 11(10):1–17
Acknowledgments
This research was been funded from the project “WEARHAP WEARable HAPtics for humans and robots” of the European Union Seventh Framework Programme, grant agreement n 601165 and the EU Horizon2020 project n. 644839 CENTAURO.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Sarac, M., Solazzi, M., Leonardis, D., Sotgiu, E., Bergamasco, M., Frisoli, A. (2017). Design of an Underactuated Hand Exoskeleton with Joint Estimation. In: Boschetti, G., Gasparetto, A. (eds) Advances in Italian Mechanism Science. Mechanisms and Machine Science, vol 47. Springer, Cham. https://doi.org/10.1007/978-3-319-48375-7_11
Download citation
DOI: https://doi.org/10.1007/978-3-319-48375-7_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48374-0
Online ISBN: 978-3-319-48375-7
eBook Packages: EngineeringEngineering (R0)