Finger exoskeleton for treatment of tendon injuries

Ertas, Ismail Hakan; Hocaoğlu, Elif; Barkana, Duygun Erol; Patoğlu, Volkan

doi:10.1109/icorr.2009.5209487

Cited by 23 publications

(21 citation statements)

References 25 publications

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“…Finally, underactuated devices based on contact forces control multiple finger joints with a single actuator by adjusting forces acting on finger phalanges automatically based on interaction forces, thanks to passive elements along the mechanism (Figure 7(f)) [24], [61]. Each finger component is controlled using a single actuator, so they are low-cost, lightweight and portable.…”

Section: Kinematics Selectionmentioning

confidence: 99%

“…The actuators should be connected to the mechanical structure through alternative transmission strategies. The simplest transmission scenario is designing a direct-drive system, such that the actuators are placed on top of the hand or along the mechanism, while the actuator shafts are attached to mechanical components directly [24], [60], [61], [74], [81]. Even though direct-drive is preferable to improve the portability, the chosen actuators should be highly miniaturized and lightweight.…”

Section: Transmission Unitsmentioning

confidence: 99%

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Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

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Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the motor learning and treatment process. The recent technology can lead to the creation of generic hand exoskeletons that are application-agnostic. In this paper, our motivation is to create guidelines and best practices for generic exoskeletons by reviewing the literature of current devices. First, we describe each application and briefly explain their design requirements, and then list the design selections to achieve these requirements. Then, we detail each selection by investigating the existing exoskeletons based on their design choices, and by highlighting their impact on application types. With the motivation of creating efficient generic exoskeletons in the future, we finally summarize the best practices in the literature.Index Terms-hand exoskeletons, rehabilitation hand exoskeletons, assistive hand exoskeletons, haptic hand exoskeletons

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Section: Kinematics Selectionmentioning

confidence: 99%

Section: Transmission Unitsmentioning

confidence: 99%

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

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“…There have been two main approaches for designing exoskeleton gloves throughout the years. Many researchers use the traditional approach toward building an exoskeleton glove, which involves using rigid links and joints to apply forces to the corresponding joints of the human hand to provide assistance with flexion and extension [7][8][9][10][11][12][13][14][15][16][17][18][19]. Most of these exoskeleton gloves are designed with the link frames placed on top of the fingers and hand instead of alongside the fingers.…”

Section: Introductionmentioning

confidence: 99%

Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration

Refour

Sebastian

Ben-Tzvi

2018

Journal of Mechanisms and Robotics

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This paper presents the design and integration of a two-digit robotic exoskeleton glove mechanism. The proposed glove is designed to assist the user with grasping motions, such as the pincer grasp, while maintaining a natural coupling relationship among the finger and thumb joints, resembling that of a normal human hand. The design employs single degree-of-freedom (DOF) linkage mechanisms to achieve active flexion and extension of the index finger and thumb. This greatly reduces the overall weight and size of the system making it ideal for prolonged usage. The paper describes the design, mathematical modeling of the proposed system, detailed electromechanical design, and software architecture of the integrated prototype. The prototype is capable of recording information about the index finger and thumb movements, interaction forces exerted by the finger/thumb on the exoskeleton, and can provide feedback through vibration. In addition, the glove can serve as a standalone device for rehabilitation purposes, such as assisting in achieving tip or pulp pinch. The paper concludes with an experimental validation of the proposed design by comparing the motion produced using the exoskeleton glove on a wooden mannequin with that of a natural human hand.

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“…The exoskeleton gloves that have been designed for such applications can be broadly divided into two types: rigid and soft gloves. Rigid gloves have better force transmission and can achieve the desired grasp configurations more easily [2][3][4][5][6][7][8][9][10]. Cybergrasp is used for tele-manipulation or grasping computer generated objects [2].…”

Section: Introductionmentioning

confidence: 99%

Design Optimization of RML Glove for Improved Grasp Performance

Vanteddu

Sebastian

Ben-Tzvi

2018

Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation

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This paper describes the design optimization of the RML Glove in order to improve its grasp performance. The existing design is limited to grasping objects of large diameter (> 110mm) due to its inability in attaining high bending angles. For an exoskeleton glove to be effective in its use as an assistive and rehabilitation device for Activities of Daily Living (ADL), it should be able to interact with objects over a wide range of sizes. Motivated by these limitations, the kinematics of the existing linkage mechanism was analyzed in detail and the design variables were identified. Two different cost functions were formulated and compared in their ability to yield optimal values for the design variables. The optimal set of design variables was chosen based on the grasp angles achieved and the resulting mechanism was simulated in CAD for feasibility testing. An exoskeleton mechanism corresponding to the index finger was manufactured with the chosen design variables and detailed experimental validation was performed to illustrate the improvement in grasp performance over the existing design. The paper ends with a summary of the experimental results and directions for future research.

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Finger exoskeleton for treatment of tendon injuries

Cited by 23 publications

References 25 publications

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration

Design Optimization of RML Glove for Improved Grasp Performance

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