Open AccessHuman hand compatible underactuated exoskeleton robotic system
Author(s) -
Iqbal J.,
Tsagarakis N.G.,
Caldwell D.G.
Publication year - 2014
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2014.0508
Subject(s) - underactuation , exoskeleton , robotic hand , computer science , control engineering , engineering , control theory (sociology) , robot , artificial intelligence , simulation , control (management)
A novel direct‐driven and portable exoskeleton robotic system for the hand is proposed. The system design is based on the multi‐parametric optimisation procedure, which considers isotropy, dexterity and exertion of perpendicular forces on the finger phalanges. Actuators for the proposed device were selected based on results of experiments with users having different hand sizes. These experiments measured various parameters including average and maximum force exertion levels of a human hand. The experimental results were used to realise the mechanical design and to develop a prototype. The device can exert force levels (of 45 N) beyond any existing hand exoskeleton. Preliminary trials carried out on the fabricated prototype dictate efficacy and potential of the proposed system.