KULEX-Hand: An Underactuated Wearable Hand for Grasping Power Assistance

Hong, Man Bok; Kim, Sin Jung; Ihn, Yong Seok; Jeong, Gu-Cheol; Kim, Kee Hoon

doi:10.1109/tro.2018.2880121

Cited by 42 publications

(23 citation statements)

References 33 publications

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“…Wearable exoskeletons are usually mounted dorsally and often provide a large range of finger motion through sophisticated mechanisms that ensure coincident centres of rotation with the anatomical finger joints (Sarac et al, 2019 ). While some exoskeletons are principally designed to allow patients to perform rehabilitation exercises (e.g., Ho et al, 2011 ; Pu et al, 2020 ), others focus on assisting in activities of daily living (e.g., Hasegawa et al, 2008 ; Gasser et al, 2017 ; Hong et al, 2019 ). Because wearable exoskeletons tend to be cumbersome to install (Aggogeri et al, 2019 ), there has been an increasing effort to develop self-aligning (e.g., Zhang et al, 2014 ; Cempini et al, 2015 ; Leonardis et al, 2015 ; Sarac et al, 2016 ) as well as highly portable and mechanically simple exoskeletons [e.g., Tenoexo (Bützer et al, 2020 ), Mano (Randazzo et al, 2018 )] to improve usability and ease of setup.…”

Section: Introductionmentioning

confidence: 99%

A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device

Ratz

Conti²,

Müri

et al. 2021

Front. Neurorobot.

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Neurorehabilitation research suggests that not only high training intensity, but also somatosensory information plays a fundamental role in the recovery of stroke patients. Yet, there is currently a lack of easy-to-use robotic solutions for sensorimotor hand rehabilitation. We addressed this shortcoming by developing a novel clinical-driven robotic hand rehabilitation device, which is capable of fine haptic rendering, and that supports physiological full flexion/extension of the fingers while offering an effortless setup. Our palmar design, based on a parallelogram coupled to a principal revolute joint, introduces the following novelties: (1) While allowing for an effortless installation of the user's hand, it offers large range of motion of the fingers (full extension to 180° flexion). (2) The kinematic design ensures that all fingers are supported through the full range of motion and that the little finger does not lose contact with the finger support in extension. (3) We took into consideration that a handle is usually comfortably grasped such that its longitudinal axis runs obliquely from the metacarpophalangeal joint of the index finger to the base of the hypothenar eminence. (4) The fingertip path was optimized to guarantee physiologically correct finger movements for a large variety of hand sizes. Moreover, the device possesses a high mechanical transparency, which was achieved using a backdrivable cable transmission. The transparency was further improved with the implementation of friction and gravity compensation. In a test with six healthy participants, the root mean square of the human-robot interaction force was found to remain as low as 1.37 N in a dynamic task. With its clinical-driven design and easy-to-use setup, our robotic device for hand sensorimotor rehabilitation has the potential for high clinical acceptance, applicability and effectiveness.

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Section: Introductionmentioning

confidence: 99%

A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device

Ratz

Conti²,

Müri

et al. 2021

Front. Neurorobot.

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“…To control the origami pump, we select the tendon-driven method. The tendon-driven mechanism is a commonly used method for conventional robot hands (Hong et al, 2018) and soft grippers . In our case, the tendon is connected between the origami pump and a motor.…”

Section: Introductionmentioning

confidence: 99%

Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump

Kim

Cha

2020

Front. Bioeng. Biotechnol.

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In this study, we propose a soft pneumatic gripper that uses a tendon-driven soft origami pump. The gripper consists of three pneumatic soft actuators that are controlled by a tendon-driven origami pump. An external air compressor that supplies air to the pneumatic actuator is replaced by an origami pump. The soft actuator is composed of silicone (Ecoflex 00-30) with a chamber-based structure, which is fabricated using a mold, and the origami pump is fabricated by folding a Kresling patterned polypropylene film. In addition, we conduct a series of experiments to evaluate the performance of the pneumatic actuator with a tendon-driven origami pump. Specifically, movement characteristics, frequency response, blocking force, and the relation between bending angle and pressure are analyzed from the results of the experiments. Furthermore, we understand the entire operation mechanism from the deformation of the origami pump to bending through pressure. Finally, we demonstrate the grasping of objects with diverse shapes and materials, and indicate the feasibility of the pneumatic gripper as an independent module without an external compressor.

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“…D UE to existing demands to improve reliability, accuracy, repeatability, and productivity of industrial processes, the significance of robot technology has been highlighted [1]. Furthermore, robots are being used for different purposes, such as surgery [2], handling hazardous materials [3], and motion assistance [4], and in different environments, such as space [5], underwater [6] etc. In all these cases, robot manipulators are employed; therefore, understanding their motion control is crucial.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Control With Integral Compensation for Motion Control of Robot Manipulator in Joint and Task Spaces

Chen¹,

Luo²,

Han³

et al. 2020

IEEE Access

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The motion control of robot manipulators is a crucial problem concerning automatically controlled robots. In this work, the model predictive control method with an integral compensation (MPC-I), which compensates for the matched uncertainties due to unmodeled dynamics, is proposed to solve the trajectory tracking problem of robot manipulators in joint and task spaces. First, this paper decouples the joint variables of the robot manipulator using a computed torque control method. The MPC-I method is, thereafter, derived to realize the motion control of the robot manipulators in joint space. To realize the motion control of the robot manipulator in task space, the task space is, thereafter, converted into the joint space, in which the MPC-I method is executed, afterward, to control the robot. Furthermore, an MPC-I variation, in which the inverse kinematics is calculated indirectly, is proposed to achieve the motion control in task space. The novelty of this paper is to propose the MPC-I method and the method of converting task space to joint space with indirect inverse kinematics calculation. The former is suitable for the dynamic control of the robot manipulators in the joint space, and the latter can extend the MPC-I method to dynamic control in task space. To evaluate the performance of the proposed control method, motion control simulations are performed in the task and joint spaces, respectively. Simulation results and comparisons verify the effectiveness of the proposed control approach for the dynamic control of the UR5 robot manipulator. INDEX TERMS Model predictive control (MPC), motion control, robot manipulators, trajectory tracking.

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KULEX-Hand: An Underactuated Wearable Hand for Grasping Power Assistance

Cited by 42 publications

References 33 publications

A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device

A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device

Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump

Model Predictive Control With Integral Compensation for Motion Control of Robot Manipulator in Joint and Task Spaces

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