Design and control of a three finger hand exoskeleton for translation of a slender object

A three finger hand exoskeleton is designed and controlled for translation of a slender object held at the finger tips. The design incorporates actuation of the three flexion/extension joints of the index and middle fingers. For the thumb exoskeleton, a design is proposed with two degrees of freedom...

Full description

Saved in:
Bibliographic Details
Published in2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 179 - 184
Main Authors Nishad, Shyam Sunder, Dutta, Ashish, Saxena, Anupam
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2014
Subjects
4R linkage synthesis
Couplings
Exoskeletons
Indexes
Iron
Joints
Slender Object Translation
Three Finger Hand Exoskeleton
Thumb
Trajectory
Online AccessGet full text
DOI10.1109/URAI.2014.7057526

Cover

More Information
Summary:A three finger hand exoskeleton is designed and controlled for translation of a slender object held at the finger tips. The design incorporates actuation of the three flexion/extension joints of the index and middle fingers. For the thumb exoskeleton, a design is proposed with two degrees of freedom. First, trajectory data of all the phalanges for translation of a slender object are obtained through video capture and post-processing involving coordinate transformations and mean representations to minimize the experimentation errors. Due to non-circular loci of these trajectories, planar four-bar linkages are synthesized using three accuracy point method, and optimized using genetic algorithm. The four-bar linkages for each finger exoskeleton are concatenated serially in a plane. The exoskeleton is mounted on the dorsal side of the hand using Velcro bands at each phalanx, along with a fixture attached to forearm. Eight micro-servo motors are employed for actuation, and open loop control for trajectory following is implemented.
DOI:10.1109/URAI.2014.7057526