A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers

Zappatore, Giovanni Antonio; Reina, Giulio; Messina, Arcangelo

doi:10.3390/robotics8020026

Cited by 5 publications

(2 citation statements)

References 13 publications

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“…Such studies will not only consider finger movements but also other more complex and coordinated tasks, for example, grasping. For this purpose, other types of simulation tools will be considered, as for instance the one proposed by Zappatore et al, (2019) .…”

Section: Design and Modelingmentioning

confidence: 99%

Design and Prototyping of an Underactuated Hand Exoskeleton With Fingers Coupled by a Gear-Based Differential

et al. 2022

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Exoskeletons and more in general wearable mechatronic devices represent a promising opportunity for rehabilitation and assistance to people presenting with temporary and/or permanent diseases. However, there are still some limits in the diffusion of robotic technologies for neuro-rehabilitation, notwithstanding their technological developments and evidence of clinical effectiveness. One of the main bottlenecks that constrain the complexity, weight, and costs of exoskeletons is represented by the actuators. This problem is particularly evident in devices designed for the upper limb, and in particular for the hand, in which dimension limits and kinematics complexity are particularly challenging. This study presents the design and prototyping of a hand finger exoskeleton. In particular, we focus on the design of a gear-based differential mechanism aimed at coupling the motion of two adjacent fingers and limiting the complexity and costs of the system. The exoskeleton is able to actuate the flexion/extension motion of the fingers and apply bidirectional forces, that is, it is able to both open and close the fingers. The kinematic structure of the finger actuation system has the peculiarity to present three DoFs when the exoskeleton is not worn and one DoF when it is worn, allowing better adaptability and higher wearability. The design of the gear-based differential is inspired by the mechanism widely used in the automotive field; it allows actuating two fingers with one actuator only, keeping their movements independent.

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Section: Design and Modelingmentioning

confidence: 99%

Design and Prototyping of an Underactuated Hand Exoskeleton With Fingers Coupled by a Gear-Based Differential

et al. 2022

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“…The traditional actuators are replaced in these cases by passive elements including springs or mechanical limits that, by definition, cannot be controlled but having small size and high simplicity lead to a substantial reduction in the number of degrees of freedom and therefore the number of actuators [33,34]. The underactuated joint of most of the proposed prostheses corresponds to the DIP joint [35].…”

Section: Two-dofs Mechanisms With One Degree Of Under-actuationmentioning

confidence: 99%

Advances in Finger and Partial Hand Prosthetic Mechanisms

et al. 2020

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Approximately 70% of the upper extremity amputations refers to partial hand loss with the involvement of one or more fingers. Historically, this type of limb amputation has been addressed adopting simple opposition designs that use the movement of the residual digit for grasping against a fixed device. Nevertheless, in the last few years, technological advances, and the introduction of modern computer-aided tools for the synthesis and functional design of mechanisms have led to the development of smaller, more robust systems that are constantly improving body-powered and electrically-powered prototypes. This paper surveys cutting-edge solutions proposed in research or available on the market for single finger or partial hand prostheses. First, the main design requirements are outlined. Then, a wide number of prototypes are detailed underlying advantages and drawbacks. The overall goal is to create a solid starting point for the study and development of the next generation of prostheses that can be developed to advance the current state-of-the-art.

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