Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living

Article Robotics

Fully Wearable Actuated Soft Exoskeleton for Grasping Assistance in Everyday Activities

Tobias Buetzer et al.

Summary: The RELab tenoexo is a fully wearable soft hand exoskeleton designed to assist users in daily grasping tasks, with high flexibility and adaptability, easy operation, high comfort, low weight, unintrusive size, and appealing appearance.

SOFT ROBOTICS (2021)

Add to Collection

Article Robotics

On the Optimal Design of Underactuated Fingers Using Rolling Contact Joints

Jean-Michel Boisclair et al.

Summary: This article addresses the design of underactuated fingers using rolling contact joints to improve performance in robotic and prosthetic hands applications. The study extends the design space and adapts performance metrics for underactuated fingers. Optimization based on these metrics using genetic algorithms results in improved finger performance.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

Add to Collection

Article Automation & Control Systems

Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device

Houcheng Li et al.

Summary: This article introduces a new hand rehabilitation device that is soft, lightweight, and low cost. The device is controlled using the ADRC algorithm and ESO, showing good disturbance rejection ability. Clinical tests have verified the functional correctness of the device.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Add to Collection

Article Robotics

Manipulation for self-Identification, and self-Identification for better manipulation

Kaiyu Hang et al.

Summary: The study introduces an algorithm using virtual linkage-based representations (VLRs) to self-identify the underlying mechanics of hand-object systems through exploratory manipulation actions and probabilistic reasoning, enabling precise robotic in-hand manipulation control. The framework, validated on a Yale Model O hand without joint encoders or tactile sensors, demonstrates effectiveness even when some fingers are replaced with novel designs. The VLR is shown to be effective in applications such as handwriting, marble maze playing, and cup stacking, highlighting its potential for real-world robotic manipulation tasks.

SCIENCE ROBOTICS (2021)

Add to Collection

Article Automation & Control Systems

Mech-Walker:A Novel Single-DOF Linkage Device With Movable Frame for Gait Rehabilitation

Mohammad Reza Haghjoo et al.

Summary: This article presents a novel lower extremity gait rehabilitation device called Mech-Walker, utilizing eight-bar Jansen mechanism to generate ankle trajectory of human gait. It features a custom designed seat-type weight support system and nonanthropomorphic design interacting with the leg only at hip and ankle. The proposed system offers a potentially innovative tool for gait training due to ease of control, cost-effectiveness, and high intrinsic safety.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Add to Collection

Article Orthopedics

Defining the design requirements for an assistive powered hand exoskeleton: A pilot explorative interview study and case series

Quinn A. Boser et al.

Summary: This study aimed to define preliminary end-user needs and expectations for an assistive hand exoskeleton through explorative interviews and case series. The participants generally reached a consensus on important criteria such as grasp patterns, grip strength, wear time, and bulk/weight acceptability. However, differences were also identified between individuals with impaired hand function, highlighting the challenges in identifying universal criteria applicable across this population.

PROSTHETICS AND ORTHOTICS INTERNATIONAL (2021)

Add to Collection

Article Automation & Control Systems

Sliding Mode Control With Model-Based Switching Functions Applied on a 7-DOF Exoskeleton Arm

Charles Fallaha et al.

Summary: This article presents a novel sliding mode controller for robotic arms using model-based switching functions, which simplify torque control inputs and demonstrate improved control performance and robustness compared to conventional linear switching functions. The design also ensures complete decoupling of chattering effect between joint axes, making it particularly desirable for wearable robotics applications with emphasis on smooth movements and high accuracy.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Add to Collection

Article Automation & Control Systems