An automatic scaling procedure for a wearable and portable hand exoskeleton

Matteo Bianchi, Francesco Fanelli, Leandro Giordani, Alessandro Ridolfi, Federica Vannetti, Benedetto Allotta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The design of an aid for the hand function based on exoskeleton technologies for patients who have lost or injured hand skills, e.g. because of neuromuscular or aging diseases, is one of the most influential challenge in modern robotics to assure them an independent and healthy life. This research activity is focused on the design and development of a low-cost Hand Exoskeleton System (HES) for supporting patients affected by hand opening disabilities during the Activities of Daily Living (ADLs). In addition, the device, able to exert suitable forces on the hand, can be used during the rehabilitative sessions to implement specific tasks useful to restore the dexterity of the user's hand. The hand exoskeleton system, developed by the MDM Lab (Mechatronic and Dynamic Modelling Laboratory of the Department of Industrial Engineering, University of Florence, Italy), is based on a single-phalanx architecture and consists of a mechanical part (mechanism) and electronics (actuators, control unit and battery pack). In this paper, the authors propose a scaling procedure to automatically adapt the hand exoskeleton to different patients. Starting from the acquisition of the hand trajectories of the patients, obtained through a 3D Motion Capture (MoCap) system, a suitable optimization algorithm is used to determine the dimensions of the mechanism parts that allow to replicate at best the acquired trajectories. The optimization process showed satisfying results, permitting to obtain devices which tailor the hand of generic patients and able to reproduce the natural kinematics of the fingers.

Original languageEnglish
Title of host publication2016 IEEE 2nd International Forum on Research and Technologies for Society and Industry Leveraging a Better Tomorrow, RTSI 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509011315
DOIs
Publication statusPublished - Nov 9 2016
Event2nd IEEE International Forum on Research and Technologies for Society and Industry Leveraging a Better Tomorrow, RTSI 2016 - Bologna, Italy
Duration: Sep 7 2016Sep 9 2016

Conference

Conference2nd IEEE International Forum on Research and Technologies for Society and Industry Leveraging a Better Tomorrow, RTSI 2016
CountryItaly
CityBologna
Period9/7/169/9/16

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Biomedical Engineering
  • Instrumentation
  • Computer Networks and Communications
  • Computer Science Applications
  • Human Factors and Ergonomics

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