Multipoint haptic device for robot hand teleoperation

Kobayashi, Futoshi; Ikai, George; Fukui, Wataru; Nakamoto, Hiroyuki; Kojima, Fumio

doi:10.1109/mhs.2012.6492427

Cited by 5 publications

(18 citation statements)

References 17 publications

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“…5-finger exoskeletons control each finger independently, and can be used for all applications with minimum constraints [15], [44]- [61]. Since the middle, ring and little fingers of a healthy person are highly coupled, 4-finger exoskeletons, which control thumb, index, middle and ring fingers [62], [63], or 3-finger exoskeletons, which control thumb, index and middle fingers [64]- [67], can be used all applications. Even though these devices can assist users during all ADLs, the perception of realism would drop as the number of assisted fingers decrease.…”

Section: Hand Mobilitymentioning

confidence: 99%

“…A hand exoskeleton can be designed in small, medium and large sizes, such that the misalignment between mechanical and finger joints can be limited [25], [47], [53], [58], [64], [71], [72], [78], [81]. Even though misalignments are not prevented, they are ensured not to harm users.…”

Section: Strategies For Adjusting To Different Hand Sizesmentioning

confidence: 99%

“…Dorsal devices consist of mechanical or transmission components placed on top of the finger phalanges (Figure 8(c)) [15], [22], [23], [25]- [35], [37]- [41], [44]- [62], [64], [66]- [76], [78]- [84], [87]. Doing so, the collision between multiple finger components can be minimized while user's palm is free for future interactions with real objects.…”

Section: Mechanism Placementmentioning

confidence: 99%

See 2 more Smart Citations

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: Hand Mobilitymentioning

confidence: 99%

Section: Strategies For Adjusting To Different Hand Sizesmentioning

confidence: 99%

Section: Mechanism Placementmentioning

confidence: 99%

See 1 more Smart Citation

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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show abstract

“…They can be grouped by grounded-type, [4], [5], or body-type [6], [7], [8]. The HIRO III Five Fingered Haptic Interface Robot [4] emulates the anatomy of the human hand by holding and augmenting force at each fingertip.…”

Section: Introductionmentioning

confidence: 99%

“…The ExoPhalanx system [6], designed for passive force-feedback robotic teleoperation, is able to deliver resistive force to finger flexion. Its tendon-based dual clutch brake system can independently prevent flexion of the distal interphalangeal (DIP)/ proximal interphalangeal (PIP) or metacarpophalangeal (MCP) joint.…”

Section: Introductionmentioning

confidence: 99%

Multisensory interface for 5D stem cell image volumes

Koerner¹,

Wait

Winter

et al. 2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Biological imaging of live cell and tissue using 3D microscopy is able to capture time-lapse image sequences showing multiple molecular markers labeling different biological structures simultaneously. In order to analyze this complex multi-dimensional image sequence data, there is a need for automated quantitative algorithms, and for methods to visualize and interact with both the data and the analytical results. Traditional computational human input devices such as the keyboard and mouse are no longer adequate for complex tasks such as manipulating and navigating 3+ dimensional volumes. In this paper, we have developed a new interaction system for interfacing with big data sets using the human visual system together with touch, force and audio feedback. This system includes real-time dynamic 3D visualization, haptic interaction via exoskeletal glove, and tonal auditory components that seamlessly create an immersive environment for efficient qualitative analysis.

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Design and kinematic optimization of a novel underactuated robotic hand exoskeleton

et al. 2016

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This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users performing grasping tasks. The device has been designed to apply only normal forces to the finger phalanges during flexion/extension of the fingers, while providing automatic adaptability for different finger sizes. Thus, the easiness of the attachment to the user’s fingers and better comfort have been ensured. The analyses of the device kinematic pose, statics and stability of grasp have been performed. These analyses have been used to optimize the link lengths of the mechanism, ensuring that a reasonable range of motion is satisfied while maximizing the force transmission on the finger joints. Finally, the usability of a prototype with multiple fingers has been tested during grasping tasks with different objects

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Multipoint haptic device for robot hand teleoperation

Cited by 5 publications

References 17 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

Multisensory interface for 5D stem cell image volumes

Design and kinematic optimization of a novel underactuated robotic hand exoskeleton

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