Development of Low Cost Supernumerary Robotic Fingers as an Assistive Device (original) (raw)
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This paper presents design, analysis, fabrication, experimental characterization and evaluation of two prototypes of robotic extra fingers that can be used as grasp compensatory devices for hemiparetic upper limb. The devices are the results of experimental sessions with chronic stroke patients and consultations with clinical experts. Both devices share a common principle of work which consists in opposing to the paretic hand/wrist so to restrain the motion of an object. They can be used by chronic stroke patients to compensate for grasping in several Activities of Daily Living (ADL) with a particular focus on bimanual tasks. The robotic extra fingers are designed to be extremely portable and wearable. They can be wrapped as bracelets when not being used, to further reduce the encumbrance. Both devices are intrinsically-compliant and driven by a single actuator through a tendon system. The motion of the robotic devices can be controlled using an Electromyography (EMG) based interface embedded in a cap. The interface allows the user to control the device motion by contracting the frontalis muscle. The performance characteristics of the devices have been measured through experimental set up and the shape adaptability has been confirmed by grasping various objects with different shapes. We tested the devices through qualitative experiments based on ADL involving five chronic stroke patients. The prototypes successfully enabled the patients to complete various bi-manual tasks. Results show that the proposed robotic devices improve the autonomy of patients in ADL and allow them to complete tasks which were previously impossible to perform.
Extra Robotic Thumb and Exoskeleton Robotic Fingers for Patient with Hand Function Disability
Proceeding of the Electrical Engineering Computer Science and Informatics, 2017
This paper presents the development of wearable robot to enhance and to assist people who lost the ability to grasp object. In the developing countries, most persons with hand disabilities still use manual and passive tools, especially for prosthetic and orthotic. We propose a wearable robot as an orthotic device namely extra robotic thumb and exoskeleton robotic fingers as new type of wearable robot for assisting person whose the thumb can not move anymore and the other four fingers has diminished fingers function. The motion of exoskeleton robotic finger has four DOF which each DOF represents the motion of flexion and extension on the fingers. For extra robotic thumb, it has two DOF to represent the motion of circumduction and flexion/extension on the thumb. The robot employs four linear actuators in exoskeleton robotic fingers and uses two micro servos in extra robotic thumb. The robot is designed based on 3D print technology. To assist person in Activity of Daily Living (ADL), five grip patterns are developed in this research. User can command the robot by using electromyography (EMG) sensor that attached on near healthy elbow. Based on the experimental results, the robot can successfully perform object grasping tasks by using the developed five grip modes.
Enhancing Human Hand Manipulation Abilities Through Supernumerary Robotic Fingers
Biosystems & Biorobotics
One of the new targets of wearable robots is not to enhance the lift strength far above human capability by wearing a bulky robot, but to support human capability within its range by wearing lightweight and compact robots. A new approach regarding robotic extra-fingers is presented in this chapter. In particular, different design guidelines to realize robotic extra-fingers for human grasping enhancement are proposed. Such guidelines were followed for the realization of three prototypes obtained using rapid prototyping techniques, i.e., a 3D printer and an open hardware development platform. Both fully actuated and underactuated solutions have been explored. In the proposed wearable design, the robotic extra-finger can be worn as a bracelet in its rest position. The availability of a supplementary finger in the human hand allows to enlarge its workspace, improving grasping and manipulation capabilities. To control the motion of extra fingers, an object-based mapping algorithm is proposed by interpreting the whole or a part of the hand motion in grasping and manipulation tasks.
Robotic Hand Solution for Impaired Hands
Journal of Applied Science and Advanced Engineering, 2024
Hand disabilities can limit individuals from achieving the full range of finger movements seen in typical human hands, rendering some unable to grasp objects effectively. In response, this project introduces a portable 5 Degree of Freedom (DOF) robotic hand. It serves to amplify the limited flexion range of an impaired hand, expanding it to match the completely normal range of motion found in a robotic hand. This innovative solution is designed to attach to the palm of the impaired hand and is controlled by a glove equipped with five flex sensors. These sensors precisely measure the angles of finger bends and translate them into appropriate servo motor angles, facilitating enhanced dexterity for the user.
Towards a Supernumerary Robotic Hand for Upper Limb Assistance and Rehabilitation
2021
The effects of neurological diseases (e.g. stroke) can severely affect the subject's quality of life and independence. In the last decades, many robotic devices have been developed to flank standard rehabilitation therapies. Here, we present a new Supernumerary Robotic Hand designed to be used in close coordination with the natural hands, as a "third hand". The SoftHand X system (where X stands for eXtrathesis) is suitable for the assistance of impaired people and is composed of different sub-parts conveniently assembled for the patients' needs. In this paper, the design is described as well as the clinical testing already performed. A first idea to exploit the system in the rehabilitation field is also presented
Biosystems & Biorobotics
I can never satisfy myself until i can make a mechanical model of a thing. If I can make mechanical model, I can understand it Lord Kelvin This chapter presents design, analysis, fabrication, experimental characterization and evaluation of two prototypes of soft supernumerary robotic fingers that can be used as grasp compensatory devices for hemiparetic upper limb. In recent years, several researchers have focused on the development of simple, compliant, yet strong, robust, and easy-to-program manipulation systems to overcome the common issues of rigid multi-fingered robotic hands. Although many prototypes have been proposed, there is still a lack of a systematic way for soft hand design. One of the most critical element that plays the role in the successful grasp and shape adaptation of the object is the trajectory of the robotic fingers which can be regulated by acting on their joints stiffness. We propose a method to compute the stiffness of flexible joints and its realization in order to let the fingers track a certain predefined trajectory. We refer to tendon driven, underactuated and passively compliant hands composed of deformable joints and rigid links. The finger joints can be given specific stiffness and pre-form shapes such that a single cable actuation can be used. We define firstly a procedure to determine suitable joints stiffness and then we propose a possible realization in robotics fingers hardware structure. The stiffness computation is obtained leveraging on the the mechanics of tendon-driven hands and on compliant systems, while for its implementation beam theory has been exploited. We validate the proposed framework both in simulation and with experiments using a prototypes of the devices.
Sensorized Glove for Measuring Hand Finger Flexion for Rehabilitation Purposes
IEEE Transactions on Instrumentation and Measurement, 2000
Over the last 30 years, scientific and technological progress has boosted the development of medical devices that can assist patients and support medical staff. With regard to the rehabilitation of patients who have suffered from traumas, robotic systems can be an aid for rapid patient recovery. This paper focuses on studying and implementing a system for measuring the finger position of one hand with the aim of giving feedback to the rehabilitation system. It consists of a glove where sensors are mounted suitably configured and connected to an electronic conditioning and acquisition unit. The information regarding the position is then sent to a remote system. The objective of this paper is to provide a sensorized glove for monitoring the rehabilitation activities of the hand. The glove can have several other applications such as: 1) the recognition of sign language; 2) the diagnostic measurement of the finger movement at a distance; and 3) the interaction with virtual reality.
Development of a Wearable Finger Exoskeleton for Rehabilitation
Applied Sciences, 2021
This research work shows a new architecture of a novel wearable finger exoskeleton for rehabilitation; the proposed design consists of a one degree of freedom mechanism that generates the flexion and extension movement for the proximal, medial and distal phalange of the fingers to assist patients during the rehabilitation process, after neurological trauma, such as a stroke. The anatomy and anthropometric measures for the hand were used to define the design of the mechanism. In the analytic part, the representative equations for the forward and inverse kinematic analysis of the fingers are obtained, also a dynamic analysis is presented. The position and displacement continued for the structural analysis, were developed by following a static analysis, to know the deformation that the structure links show when an external load is applied in the mechanism. As result, a prototype was manufactured with acrylonitrile butadiene styrene (ABS) using an additive manufacturing machine.