A prototype characterization of ExoFinger, a finger exoskeleton

Ceccarelli, Marco; Morales-Cruz, Cuauhtémoc

doi:10.1177/17298814211024880

Cited by 8 publications

(4 citation statements)

References 24 publications

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“…In this work, we further elaborated the experimental measurements on human hand sizes by enlarging the data set with five more measured hand sizes to get more statistical relevant average values. Furthermore, we have compared our data with other literature sources such as [27][28][29], which confirm the fitting of our data with average human hand sizes. Currently, metacarpophalangeal joints (MCP), proximal interphalangeal joints (PIP), and distal interphalangeal joints (DIP) are measured.…”

Section: Requirements For a Low-cost Devicesupporting

confidence: 82%

“…Table 1 provides a summary of typical ranges of motion values for the MCP, PIP, and DIP joints of the fingers, for a healthy human adult. Data have been obtained following the procedure reported in [26][27][28][29]. Index finger movement is analyzed for trajectory characterization.…”

Section: Requirements For a Low-cost Devicementioning

confidence: 99%

“…For this purpose, the operation of the proposed device has been considered during flexion and extension exercises. The proposed simulation considers the average force of a human finger at F f = 1 N, F f = 3 N, and F f = 5 N [24][25][26][27] having been applied to the EE. The simulation also considers the contribution of gravity.…”

Section: Simulations and Prototype Developmentmentioning

confidence: 99%

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Experimental Characterization of A-AFiM, an Adaptable Assistive Device for Finger Motions

et al. 2022

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Robot rehabilitation devices are attracting significant research interest, aiming at developing viable solutions for increasing the patient’s quality of life and enhancing clinician’s therapies. This paper outlines the design and implementation of a low-cost robotic system that can assist finger motion rehabilitation by controlling and adapting both the position and velocity of fingers to the users′ needs. The proposed device consists of four slider-crank mechanisms. Each slider-crank is fixed and moves one finger (from the index to the little finger). The finger motion is adjusted through the regulation of a single link length of the mechanism. The trajectory that is generated corresponds to the natural flexion and extension trajectory of each finger. The functionality of this mechanism is validated by experimental image processing. Experimental validation is performed through tests on healthy subjects to demonstrate the feasibility and user-friendliness of the proposed solution.

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Section: Requirements For a Low-cost Devicesupporting

confidence: 82%

Section: Requirements For a Low-cost Devicementioning

confidence: 99%

Section: Simulations and Prototype Developmentmentioning

confidence: 99%

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Experimental Characterization of A-AFiM, an Adaptable Assistive Device for Finger Motions

et al. 2022

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“…However, the structural complexity of these wearable exoskeletons poses challenges for partial amputees. Ceccarelli et al [6] developed a finger exoskeleton with a unique design, offering a full range of finger movements, and Li et al [7] introduced an under-actuated finger exoskeleton operating with a single motor; this design pre-couples the movements of the MCP, PIP, and DIP joints to achieve pre-shaping. However, many of these exoskeletons have a bulky design, causing inconveniences and limitations during daily activities.…”

Section: Introductionmentioning

confidence: 99%

Development of Wearable Finger Prosthesis with Pneumatic Actuator for Patients with Partial Amputations

Kim,

Jang,

et al. 2023

Actuators

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As the number of patients with amputations increases, research on assistive devices such as prosthetic limbs is actively being conducted. However, the development of assistive devices for patients with partial amputations is insufficient. In this study, we developed a finger prosthesis for patients with partial amputations. The design and mathematical modeling of the prosthesis are briefly presented. A pneumatic actuator, based on the McKibben muscle design, was employed to drive the finger prosthesis. We characterized the relationship between the actuator’s force and axial length changes with varying pressure. An empirical model derived from conventional mathematical modeling of force and axis length changes was proposed and compared with experimental data, and the error was measured to be between about 3% and 13%. In order to control the actuator using an electromyography (EMG) signal, an electrode was attached to the user’s finger flexors. The EMG signal was measured in relation to the actual gripping force and was provided with visual feedback, and the magnitude of the signal was evaluated using root mean square (RMS). Depending on the evaluated EMG signal magnitude, the pressure of the actuator was continuously adjusted. The pneumatic pressure was adjusted between 100 kPa and 250 kPa, and the gripping force of the finger prosthesis ranged from about 0.7 N to 6.5 N. The stiffness of the prosthesis can be varied using the SMA spring. The SMA spring is switched to a fully austenite state at 50 °C through PID control, and when the finger prosthesis is bent to a 90° angle, it can provide approximately 1.2 N of assistance force. Finally, the functional evaluation of the finger prosthesis was performed through a pinch grip test of eight movements.

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