Design, analysis and verification of forefinger exoskeleton movement mechanism

Xun Yuan; Jiale Huang

doi:10.1117/12.2660757

31 October 2022 Design, analysis and verification of forefinger exoskeleton movement mechanism

Xun Yuan, Jiale Huang

Proceedings Volume 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022); 1245718 (2022) https://doi.org/10.1117/12.2660757
Event: Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 2022, Changchun, China

Abstract

Hand rehabilitation is essential for people with upper limb disabilities to restore their independence in daily living activities. There is preliminary evidence that robot equipment based on a force control strategy can help effective human limb rehabilitation. However, according to recent research, the existing hand exoskeleton cannot allow joints' special force or torque control. In this paper, a new index finger exoskeleton is proposed, which is based on the series of elastic driving of the Bowden line. It can help disabled patients to grasp, adduct and abduct the hand index finger exoskeleton because they typically have difficulty moving and cannot perform simple daily activities. Secondly, in this paper, the degrees of freedom and closed-loop kinematic chain of each joint of the index finger are analyzed and calculated. Through modelling based on solid works and kinematics simulation based on Matlab, the optimal posture path of mechanical mechanism to assist the index finger movement when grasping and stretching the index finger is put forward. Finally, based on the bidirectional torque drive, the Bowden line is introduced to realize the movement control of PIP and MCP joints by flexible drive (SEA), and the DIP track slot is innovatively added to help the DIP joint coupled with PIP to complete the appropriate bending angle, thus maintaining the natural movement characteristics of fingers.

Citation Download Citation

Xun Yuan and Jiale Huang "Design, analysis and verification of forefinger exoskeleton movement mechanism", Proc. SPIE 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 1245718 (31 October 2022); https://doi.org/10.1117/12.2660757

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KEYWORDS

Microchannel plates

Kinematics

3D modeling

MATLAB

Motion analysis

Sensors

Motion controllers

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