RML Glove—An Exoskeleton Glove Mechanism With Haptics Feedback

Ma, Zhou; Ben-Tzvi, Pinhas

doi:10.1109/tmech.2014.2305842

Cited by 107 publications

(36 citation statements)

References 32 publications

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“…However, they are not able to deal with the change of conduit configuration. For applications like rehabilitation robots or robotic hands, distal encoders can be used to provide the output feedback [32]- [34]. For the use in surgical robots, it is known that some applications can utilize advanced techniques such as 3D ultrasound probe or image-based methods to achieve the position output feedback [21]- [23], [31].…”

Section: Discussionmentioning

confidence: 99%

“…For the application of medical robots, radiographic, electromagnetic tracking, or image processing methods can be used to provide the output feedback [8], [21]- [23], [29]- [31]. For other applications like rehabilitation robots or robotic hands, distal encoders can be used to provide the output feedback [32]- [34]. Various linear and nonlinear control schemes have been reported in the literature.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Nho

Tjahjowidodo

Lau

et al. 2017

IEEE Trans. Automat. Sci. Eng.

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Cable-conduit mechanism (CCM) is widely used in robotic hands, rescue robots, rehabilitation robots, and surgical robots because it offers efficient transmission of forces/torques from the external actuator to the end effector with lightweight and high flexibility. However, the accurate position control is challenging in such mechanism due to friction and backlash-like hysteresis between the cable and the conduit. In this paper, a new control approach is proposed to enhance the trajectory tracking performances of the CCM. Unlike current approaches for the CCM in the literature, the proposed scheme considers the position transmission of the CCM as an approximation of backlash-like hysteresis nonlinearities without requiring the exact values of model parameters and their bounds. Online approximation-based robust control laws, which have the capabilities of estimating unknown system parameters, are also established. In addition, the deigned controller can adapt to any changes of the cable-conduit configuration and it is stable. The results of the proposed control techniques have been experimentally validated on a flexible robotic system using a flexible endoscope. Experimental validations show substantial improvements on the performances of position tracking for the use of CCM regardless of the arbitrary changes of the cable-conduit configurations.Note to Practitioners-This paper was motivated by the achieving high accuracy of positioning the CCM. Existing approaches on the CCM only consider the control and modeling problems when the cable-conduit configuration is unchanged or little changed and the exact values of model parameters are required. This paper suggested new approaches on the control problems of the CCM regardless of the changes of the cable-conduit configuration. We mathematically modeled and designed a controller using nonlinear and adaptive algorithm. The exact values of nonlinear model parameters were not required and only their bounds were estimated. Experimental validations were carried out on a real flexible robotic system and the results demonstrated feasible practical applications. In future research, we will apply the proposed control scheme to higher degrees of cable-conduit mechanism-driven robotic systems using non-conventional sensors like magnetic trackers or image processing to provide the output position feedback.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Nho

Tjahjowidodo

Lau

et al. 2017

IEEE Trans. Automat. Sci. Eng.

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“…The five-fingered haptic glove is a follow-up to the 2-finger glove developed [41]. It is a lightweight, portable, sensing/actuating system that fits on a bare hand and is attached to the finger tips as shown in Fig.…”

Section: A Mechanical Designmentioning

confidence: 99%

“…The links of the five-fingered glove form a series of three linkages over each individual finger [41]. According to [42] the human fingers axes are not orthonormal to the sagittal plane.…”

Section: A Mechanical Designmentioning

confidence: 99%

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

Ben-Tzvi

2015

IEEE Trans. Neural Syst. Rehabil. Eng.

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This paper presents the design, implementation and experimental validation of a novel robotic haptic exoskeleton device to measure the user's hand motion and assist hand motion while remaining portable and lightweight. The device consists of a five-finger mechanism actuated with miniature DC motors through antagonistically routed cables at each finger, which act as both active and passive force actuators. The SAFE Glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. The glove is adaptable to a wide variety of finger sizes without constraining the range of motion. This makes it possible to accurately and comfortably track the complex motion of the finger and thumb joints associated with common movements of hand functions, including grip and release patterns. The glove can be wirelessly linked to a computer for displaying and recording the hand status through 3D Graphical User Interface (GUI) in real-time. The experimental results demonstrate that the SAFE Glove is capable of reliably modeling hand kinematics, measuring finger motion and assisting hand grasping motion. Simulation and experimental results show the potential of the proposed system in rehabilitation therapy and virtual reality applications.

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“…Ma [7] presented a haptic glove with teleoperation experiments. This was capturing each finger's movement for operations.…”

Section: Introductionmentioning

confidence: 99%

Controlling a remotely located robot using hand gestures in real time: A DSP implementation

Raheja

Rajsekhar

Chaudhary

2016

2016 5th International Conference on Wireless Networks and Embedded Systems (WECON)

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Abstract-Telepresence is a necessity for present time as we can't reach everywhere and also it is useful in saving human life at dangerous places. A robot, which could be controlled from a distant location, can solve these problems. This could be via communication waves or networking methods. Also controlling should be in real time and smooth so that it can actuate on every minor signal in an effective way. This paper discusses a method to control a robot over the network from a distant location. The robot was controlled by hand gestures which were captured by the live camera. A DSP board TMS320DM642EVM was used to implement image pre-processing and fastening the whole system. PCA was used for gesture classification and robot actuation was done according to predefined procedures. Classification information was sent over the network in the experiment. This method is robust and could be used to control any kind of robot over distance.

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RML Glove—An Exoskeleton Glove Mechanism With Haptics Feedback

Cited by 107 publications

References 32 publications

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

Controlling a remotely located robot using hand gestures in real time: A DSP implementation

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