Mechanical design of a novel Hand Exoskeleton for accurate force displaying

Fontana, Marco; Dettori, Andrea; Salsedo, F.; Bergamasco, Massimo

doi:10.1109/robot.2009.5152591

Cited by 108 publications

(63 citation statements)

References 9 publications

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“…the application of uncontrolled interaction forces, which upsets the natural kinematics of human movements. Various methods have been proposed to avoid hyperstaticity, such as adding passive DOFs [29], self-aligning mechanisms [30] or remote centres of rotation [31]. These solutions come at the cost of increasing the size and mass of the device, which makes it intrinsically unsafe and thus unsuitable for unsupervised, at-home use.…”

Section: Exosuitsmentioning

confidence: 99%

Soft wearable assistive robotics: exosuits and supernumerary limbs

2018

Wearable Exoskeleton Systems: Design, Control and Applications

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Section: Exosuitsmentioning

confidence: 99%

Soft wearable assistive robotics: exosuits and supernumerary limbs

2018

Wearable Exoskeleton Systems: Design, Control and Applications

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“…4 and presented in detail in (Fontana et al, 2009). The architecture and the mechanical solutions for the exoskeleton have been studied in order to enhance performances and allow the hosting of a tactile display.…”

Section: Kinesthetic and Tactile Stages Conceived For Integrationmentioning

confidence: 99%

On the Integration of Tactile and Force Feedback

Fontana¹,

Ruffaldi²,

Salasedo³

et al. 2012

Haptics Rendering and Applications

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“…However, rigid exoskeletons require joint alignment between the finger and the robot, making the wearing part bulky and heavy. For this reason, hard exoskeletons are mostly used for rehabilitation purposes [3][4][5][6]. Soft exoskeletons, on the other hand, have the advantage of simplifying the wearing part because they are easily locate actuator parts remotely that are separated from the worn portion.…”

Section: Introductionmentioning

confidence: 99%

Development and assessment of a hand assist device: GRIPIT

Kim

Lee

et al. 2017

J NeuroEngineering Rehabil

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Background: Although various hand assist devices have been commercialized for people with paralysis, they are somewhat limited in terms of tool fixation and device attachment method. Hand exoskeleton robots allow users to grasp a wider range of tools but are heavy, complicated, and bulky owing to the presence of numerous actuators and controllers. The GRIPIT hand assist device overcomes the limitations of both conventional devices and exoskeleton robots by providing improved tool fixation and device attachment in a lightweight and compact device. GRIPIT has been designed to assist tripod grasp for people with spinal cord injury because this grasp posture is frequently used in school and offices for such activities as writing and grasping small objects. Methods: The main development objective of GRIPIT is to assist users to grasp tools with their own hand using a lightweight, compact assistive device that is manually operated via a single wire. GRIPIT consists of only a glove, a wire, and a small structure that maintains tendon tension to permit a stable grasp. The tendon routing points are designed to apply force to the thumb, index finger, and middle finger to form a tripod grasp. A tension-maintenance structure sustains the grasp posture with appropriate tension. Following device development, four people with spinal cord injury were recruited to verify the writing performance of GRIPIT compared to the performance of a conventional penholder and handwriting. Writing was chosen as the assessment task because it requires a tripod grasp, which is one of the main performance objectives of GRIPIT. Results: New assessment, which includes six different writing tasks, was devised to measure writing ability from various viewpoints including both qualitative and quantitative methods, while most conventional assessments include only qualitative methods or simple time measuring assessments. Appearance, portability, difficulty of wearing, difficulty of grasping the subject, writing sensation, fatigability, and legibility were measured to assess qualitative performance while writing various words and sentences. Results showed that GRIPIT is relatively complicated to wear and use compared to a conventional assist device but has advantages for writing sensation, fatigability, and legibility because it affords sufficient grasp force during writing. Two quantitative performance factors were assessed, accuracy of writing and solidity of writing. To assess accuracy of writing, we asked subjects to draw various figures under given conditions. To assess solidity of writing, pen tip force and the angle variation of the pen were measured. Quantitative evaluation results showed that GRIPIT helps users to write accurately without pen shakes even high force is applied on the pen.

show abstract

Mechanical design of a novel Hand Exoskeleton for accurate force displaying

Cited by 108 publications

References 9 publications

Soft wearable assistive robotics: exosuits and supernumerary limbs

Soft wearable assistive robotics: exosuits and supernumerary limbs

On the Integration of Tactile and Force Feedback

Development and assessment of a hand assist device: GRIPIT

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