Design and kinematic optimization of a novel underactuated robotic hand exoskeleton

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• 作者：Mine Sarac ; Massimiliano Solazzi ; Edoardo Sotgiu ; Massimo Bergamasco…
• 关键词：Hand exoskeletons ; Underactuated mechanism ; Grasping ; Kinematics optimization
• 刊名：Meccanica
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：52
• 期：3
• 页码：749-761
• 全文大小：
• 刊物类别：Physics and Astronomy
• 刊物主题：Classical Mechanics; Civil Engineering; Automotive Engineering; Mechanical Engineering;
• 出版者：Springer Netherlands
• ISSN：1572-9648
• 卷排序：52

文摘

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.