A Three-Fingered Force Feedback Glove Using Fiber-Reinforced Soft Bending Actuators

Wang, Ziqi; Wang, Dangxiao; Zhang, Yu; Liu, Jiaqi; Wen, Li; Wang, Xu

doi:10.1109/tie.2019.2924860

Cited by 36 publications

(18 citation statements)

References 23 publications

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“…In our previous study, we proposed a hand exoskeleton that can assist both the extension and flexion of the fingers using a rigidsoft combined mechanism (Li et al, 2019). Please note that the hand exoskeleton was not used to provide kinesthetic feedback of the interaction between the fingers and the virtual objects [like the haptic exoskeletons in (Secco and Maereg, 2019;Wang et al, 2020)] but to provide movement assistance to the hand. Each finger is driven by one actuator containing a linear motor, a steel strap, and a multi-segment mechanism (see Figure 1C).…”

Section: Hand Exoskeletonmentioning

confidence: 99%

Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation

Chen

et al. 2021

Front. Robot. AI

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Active enrollment in rehabilitation training yields better treatment outcomes. This paper introduces an exoskeleton-assisted hand rehabilitation system. It is the first attempt to combine fingertip cutaneous haptic stimulation with exoskeleton-assisted hand rehabilitation for training participation enhancement. For the first time, soft material 3D printing techniques are adopted to make soft pneumatic fingertip haptic feedback actuators to achieve cheaper and faster iterations of prototype designs with consistent quality. The fingertip haptic stimulation is synchronized with the motion of our hand exoskeleton. The contact force of the fingertips resulted from a virtual interaction with a glass of water was based on data collected from normal hand motions to grasp a glass of water. System characterization experiments were conducted and exoskeleton-assisted hand motion with and without the fingertip cutaneous haptic stimulation were compared in an experiment involving healthy human subjects. Users’ attention levels were monitored in the motion control process using a Brainlink EEG-recording device and software. The results of characterization experiments show that our created haptic actuators are lightweight (6.8 ± 0.23 g each with a PLA fixture and Velcro) and their performance is consistent and stable with small hysteresis. The user study experimental results show that participants had significantly higher attention levels with additional haptic stimulations compared to when only the exoskeleton was deployed; heavier stimulated grasping weight (a 300 g glass) was associated with significantly higher attention levels of the participants compared to when lighter stimulated grasping weight (a 150 g glass) was applied. We conclude that haptic stimulations increase the involvement level of human subjects during exoskeleton-assisted hand exercises. Potentially, the proposed exoskeleton-assisted hand rehabilitation with fingertip stimulation may better attract user’s attention during treatment.

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Section: Hand Exoskeletonmentioning

confidence: 99%

Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation

Chen

et al. 2021

Front. Robot. AI

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“…It cannot evaluate the coordinated motions in the glove contributed by five fingers and a wrist. Wang et al (2020) proposed a force feedback glove using a pneumatic fiber-reinforced soft bending actuator. Strain sensors were attached onto the dorsal side of the fingertip to perceive the interaction forces.…”

Section: Introductionmentioning

confidence: 99%

A humanoid robotic hand capable of internal assembly and measurement in spacesuit gloves

Bai

Kang

Shang

et al. 2022

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Purpose To identify the dexterity of spacesuit gloves, they need to undergo bending tests in the development process. The ideal way is to place a humanoid robotic hand into the spacesuit glove, mimicking the motions of a human hand and measuring the bending angle/force of the spacesuit glove. However, traditional robotic hands are too large to enter the narrow inner space of the spacesuit glove and perform measurements. This paper aims to design a humanoid robot hand that can wear spacesuit gloves and perform measurements. Design/methodology/approach The proposed humanoid robotic hand is composed of five modular fingers and a parallel wrist driven by electrical linear motors. The fingers and wrist can be delivered into the spacesuit glove separately and then assembled inside. A mathematical model of the robotic hand is formulated by using the geometric constraints and principle of virtual work to analyze the kinematics and statics of the robotic hand. This model allows for estimating the bending angle and output force/torque of the robotic hand through the displacement and force of the linear motors. Findings A prototype of the robotic hand, as well as its testing benches, was constructed to validate the presented methods. The experimental results show that the whole robotic hand can be transported to and assembled in a spacesuit glove to measure the motion characteristics of the glove. Originality/value The proposed humanoid robotic hand provides a new method for wearing and measuring the spacesuit glove. It can also be used to other gloves for special protective suits that have highly restricted internal space.

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“…Compared to the soft actuators, such as those that are tendon driven using cables or shape memory alloy [ 13 , 14 ], electrically driven using electroactive polymers [ 15 , 16 ], or thermally driven using hydrogels [ 17 , 18 ], soft pneumatic actuators are widely used. These soft pneumatic actuators can achieve high bearing capacity and fast responses, such as a fiber-reinforced soft actuator [ 19 , 20 , 21 ] and a bellows-type soft actuator [ 22 , 23 , 24 ]. A variety of soft grippers actuated by soft pneumatic actuators have been developed, which can grip not only regular-shaped objects such as cubes and cylinders, but also irregular-shaped objects such as keys, mice, and scissors [ 25 , 26 , 27 ].…”

Section: Introductionmentioning

confidence: 99%

Modeling of a Soft-Rigid Gripper Actuated by a Linear-Extension Soft Pneumatic Actuator

Cheng

Jia

et al. 2021

Sensors

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Soft robot has been one significant study in recent decades and soft gripper is one of the popular research directions of soft robot. In a static gripping system, excessive gripping force and large deformation are the main reasons for damage of the object during the gripping process. For achieving low-damage gripping to the object in static gripping system, we proposed a soft-rigid gripper actuated by a linear-extension soft pneumatic actuator in this study. The characteristic of the gripper under a no loading state was measured. When the pressure was >70 kPa, there was an approximately linear relation between the pressure and extension length of the soft actuator. To achieve gripping force and fingertip displacement control of the gripper without sensors integrated on the finger, we presented a non-contact sensing method for gripping state estimation. To analyze the gripping force and fingertip displacement, the relationship between the pressure and extension length of the soft actuator in loading state was compared with the relationship under a no-loading state. The experimental results showed that the relative error between the analytical gripping force and the measured gripping force of the gripper was ≤2.1%. The relative error between analytical fingertip displacement and theoretical fingertip displacement of the gripper was ≤7.4%. Furthermore, the low damage gripping to fragile and soft objects in static and dynamic gripping tests showed good performance of the gripper. Overall, the results indicated the potential application of the gripper in pick-and-place operations.

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A Three-Fingered Force Feedback Glove Using Fiber-Reinforced Soft Bending Actuators

Cited by 36 publications

References 23 publications

Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation

Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation

A humanoid robotic hand capable of internal assembly and measurement in spacesuit gloves

Modeling of a Soft-Rigid Gripper Actuated by a Linear-Extension Soft Pneumatic Actuator

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