Development of a grip aid system using air cylinders

Takagi, Motoki; Iwata, Kazuhide; Takahashi, Yoshiyuki; Yamamoto, Satoshi; Koyama, Hiroyuki; Komeda, Takashi

doi:10.1109/robot.2009.5152246

Cited by 35 publications

(18 citation statements)

References 1 publication

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“…Clinical studies have shown that stroke patients who have robotic assistance when performing intense repetitive movements demonstrate significant improvement in hand motor functions [2,[4][5][6][7]. Numerous robotic rehabilitation systems have been developed for the hand that consists of multi-degree-of-freedom exoskeletons [5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22]. Most of these devices require the biological joints to be aligned with those of the exoskeleton, while only a few have passive degrees of freedom or self-alignment features [3,16,23,24].…”

Section: Introductionmentioning

confidence: 99%

Soft robotic glove for combined assistance and at-home rehabilitation

Polygerinos

Wang

Galloway

et al. 2015

Robotics and Autonomous Systems

1,281

790

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This paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed to match and support the range of motion of individual fingers. They demonstrated the ability to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. Demonstrations with the complete system were performed to evaluate the ability of the soft robotic glove to carry out gross and precise functional grasping. Compared to existing devices, the soft robotic glove has the potential to increase user freedom and independence through its portable waist belt pack and open palm design.

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Section: Introductionmentioning

confidence: 99%

Soft robotic glove for combined assistance and at-home rehabilitation

Polygerinos

Wang

Galloway

et al. 2015

Robotics and Autonomous Systems

1,281

790

View full text Add to dashboard Cite

show abstract

“…In certain devices, different sensor technologies have been implemented, such as torque sensors, 11 strain gauges, 12 flexion sensors, 13 and miniature load cells. 14 These sensors may be effective in their respective applications but present some shortcomings for their integration in exoskeletons.…”

Section: Introductionmentioning

confidence: 99%

Hand exoskeleton for rehabilitation therapies with integrated optical force sensor

Díez

Blanco

Catalán

et al. 2018

Advances in Mechanical Engineering

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This article presents the design of a hand exoskeleton that features its modularity and the possibility of integrating a force sensor in its frame. The modularity is achieved by dividing the exoskeleton in separate units, each one driving a finger or pair of them. These units or ''finger modules'' have a single degree of freedom and may be easily attached or removed from the robot frame and human fingers by snap-in fixations. As for the force sensing capability, the device relies on a novel force sensor that uses optical elements to amplify and measure small elastic deformations in the robot structure. This sensor can be fully integrated as a structural element of the finger module. The proposed technology has been validated in two experimental sessions. A first study was performed in a clinical environment in order to check whether the hand exoskeleton (without the integrated force sensor) can successfully move an impaired hand in a ''Mirror Therapy'' environment. A second study was carried with healthy subjects to check the technical feasibility of using the integrated force sensor as a human-machine interface.

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“…To assist reduced grip strength or prevent WMSDs, many assistive hand exoskeletons have been developed [8][9][10][11][12][13][14][15][16] that detect the intention of the wearer's intention via fingerpad contact forces [17][18][19][20], finger motion [20][21][22][23][24], surface electromyography (sEMG) [25][26][27], or multimodal sensing [28]. Although the measurement of fingerpad contact force enables the acquisition of individual finger forces with simple sensors, the tactile sensation of the wearer is inevitably diminished because of the presence of the force sensor between the fingerpad and object being manipulated.…”

Section: Introductionmentioning

confidence: 99%

A Finger Grip Force Sensor with an Open-Pad Structure for Glove-Type Assistive Devices

Park

Heo

Kim

et al. 2019

Sensors

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This paper presents a fingertip grip force sensor based on custom capacitive sensors for glove-type assistive devices with an open-pad structure. The design of the sensor allows using human tactile sensations during grasping and manipulating an object. The proposed sensor can be attached on both sides of the fingertip and measure the force caused by the expansion of the fingertip tissue when a grasping force is applied to the fingertip. The number of measurable degrees of freedom (DoFs) are the two DoFs (flexion and adduction) for the thumb and one DoF (flexion) for the index and middle fingers. The proposed sensor allows the combination with a glove-type assistive device to measure the fingertip force. Calibration was performed for each finger joint angle because the variations in the expansion of the fingertip tissue depend on the joint angles. The root mean square error (RMSE) for fingertip force estimation ranged from 3.75% to 9.71% after calibration, regardless of the finger joint angles or finger posture.

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Development of a grip aid system using air cylinders

Cited by 35 publications

References 1 publication

Soft robotic glove for combined assistance and at-home rehabilitation

Soft robotic glove for combined assistance and at-home rehabilitation

Hand exoskeleton for rehabilitation therapies with integrated optical force sensor

A Finger Grip Force Sensor with an Open-Pad Structure for Glove-Type Assistive Devices

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