Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Eric Refour ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Experimental Validation ◽  
Index Finger ◽  
Human Hand ◽  
Interaction Forces ◽  
Single Degree Of Freedom ◽  
Robotic Exoskeleton ◽  
Coupling Relationship ◽  
Active Flexion ◽  
Normal Human ◽  
Flexion And Extension

This paper presents the design and integration of a two-digit robotic exoskeleton glove mechanism. The proposed glove is designed to assist the user with grasping motions, such as the pincer grasp, while maintaining a natural coupling relationship among the finger and thumb joints, resembling that of a normal human hand. The design employs single degree-of-freedom (DOF) linkage mechanisms to achieve active flexion and extension of the index finger and thumb. This greatly reduces the overall weight and size of the system making it ideal for prolonged usage. The paper describes the design, mathematical modeling of the proposed system, detailed electromechanical design, and software architecture of the integrated prototype. The prototype is capable of recording information about the index finger and thumb movements, interaction forces exerted by the finger/thumb on the exoskeleton, and can provide feedback through vibration. In addition, the glove can serve as a standalone device for rehabilitation purposes, such as assisting in achieving tip or pulp pinch. The paper concludes with an experimental validation of the proposed design by comparing the motion produced using the exoskeleton glove on a wooden mannequin with that of a natural human hand.

Design and Integration of a Two-Digit Exoskeleton Glove

2017 ◽  
Author(s):  
Eric Refour ◽  
Bijo Sebastain ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Experimental Validation ◽  
Index Finger ◽  
Human Hand ◽  
Interaction Forces ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Coupling Relationship ◽  
Active Flexion ◽  
Normal Human ◽  
Flexion And Extension

This paper presents the design and integration of a two-digit exoskeleton glove. The proposed glove is designed to assist the user with grasping motions, such as the pincer grasp, while maintaining a natural coupling relationship among the finger and thumb joints, resembling that of a normal human hand. The design employs single degree of freedom linkage mechanisms to achieve active flexion and extension of the index finger and thumb. This greatly reduces the overall weight and size of the system making it ideal for prolonged usage. The paper describes the design, mathematical modeling of the proposed system, detailed electromechanical design, and software architecture of the integrated prototype. The prototype is capable of recording information about the index finger and thumb movements, interaction forces exerted by the finger/thumb on the exoskeleton, and can provide feedback through vibration. In addition, the glove can serve as a standalone device for rehabilitation purposes, such as assisting in achieving tip or pulp pinch. The paper concludes with an experimental validation of the proposed design by comparing the motion produced using the exoskeleton glove on a wooden mannequin with that of a natural human hand.

Patient-Driven Hand Exoskeleton Based Robotic with Active Control System for Early Post Stroke Rehabilitation

2015 ◽  
Vol 799-800 ◽  
pp. 1063-1068
Author(s):  
Mohd Nor Azmi bin Ab Patar ◽  
Takashi Komeda ◽  
Cheng Yee Low ◽  
Jamaluddin Mahmud
Keyword(s):  
Position Control ◽  
Hand Rehabilitation ◽  
Adaptation Mechanism ◽  
Robotic Exoskeleton ◽  
Lead Screw ◽  
Rehabilitation System ◽  
Normal Human ◽  
Screw Mechanism ◽  
User Friendly ◽  
Flexion And Extension

The development of a robotic exoskeleton to restore and rehab, hand and finger function is highly competitive nowadays. The robotic exoskeleton is an active actuated mechanism implemented in rehabilitation system, in which each finger attached to an instrumented lead screw mechanism allowing force and position control, according to the normal human setting. The robotic device is a direct driven actuated based on ergonomics measurements, capable to assist in flexion and extension motion. As an adaptation mechanism, it's also compatible with various sizes and shapes of anthropometric human‘s finger. The integration of DC servo motor and lead screw mechanism were the main features of the interface, which allows independent motion of the five fingers with small and lightweight actuators. The device is easily transportable, efficient safety performance, user friendly and offer multiple modes of training potentials. This paper presents the measurements implemented in the system to determine the requirements for finger and hand rehabilitation device, the design and characteristic of the whole system.

scholarly journals Identification of 7 Movements of the Human Hand Using sEMG - 360° on the Forearm

2021 ◽  
Author(s):  
◽  
A. Ibarra-Fuentes
Keyword(s):  
Time Domain ◽  
Index Finger ◽  
Ring Finger ◽  
Middle Finger ◽  
Svm Classifier ◽  
Human Hand ◽  
Absolute Value ◽  
The Time Domain ◽  
Flexion And Extension ◽  
Semg Signals

This document shows the identification of 7 gestures (movements) of the human hand from sEMG – 360° signals in the forearm. sEMG – 360° is the sEMG measurement through 8 channels every 45° making a total of 360°. When making a hand gesture, there will be 8 independents sEMG signals that will be used to identify the movement. The 7 gestures to identify are: relaxed hand (closed), open hand (fingers extended), flexion and extension of the little finger, the ring finger, the middle finger, the index finger and the thumb separately. 100 samples of each of the gesture were captured and 3 feature extractors were applied in the time domain (mean absolute value (MAV), root mean square value (RMS) and area vale under the curve (CUA)), then a vector support machine (SVM) classifier was applied to each extractor. The movements were identified and the percentage of accuracy in the identification was calculated for each extractor + SVM classifier. The calculation of the percentage of accuracy took into account the 8 channels for each gesture. 97.61 % accuracy was achieved in the identification of human hand gestures by applying sEMG – 360°.

scholarly journals Correlation of Index Finger Length (2D) with Height, Weight and BMI in Adult Bangladeshi Male

2017 ◽  
Vol 7 (2) ◽  
pp. 90-94
Author(s):  
Karim Rezwan Hasan ◽  
Shamim Ara ◽  
Fakhrul Amin Mohammad Hasanul Banna
Keyword(s):  
Evolutionary Biology ◽  
Index Finger ◽  
Medical Science ◽  
Human Hand ◽  
Cross Sectional ◽  
Morphological Attributes ◽  
Medical College ◽  
Finger Length ◽  
Positive Correlations ◽  
Male Subjects

Background: Human hand is one of the most versatile parts of the human body which plays an important role in modern medical science and evolutionary biology. By virtue of evolution and genetic arrangements, digital lengths vary from person to person according to age, sex, races, occupation or even environmental influences. It has been found that the digital lengths and their ratios are not same in different sexes and even in both hands of same individual. Specially, index to ring digit lengths and their ratios which already have been proved to represent sexual dimorphism may differ in both hands of an individual and show positive correlations with other morphological attributes like height, weight and BMI.Objectives: To analyze the variation of index finger (2D) length and its correlation with height, weight and BMI in adult Bangladeshi male.Materials and Methods: This cross-sectional analytical study was conducted in the department of Anatomy, Dhaka Medical College, Dhaka from July 2012 to June 2013 on 100 male MBBS students (20?25 years of age). With the help of digital vernier caliper measurements of index finger length (2D) was recorded. Height and weight were measured by the stadiometer and weighing scale respectively. BMI was calculated from height and weight. Pearson’s correlation analysis was done to find out the correlation of index finger length with height, weight and BMI.Results: Significant correlation has been found between the lengths of index fingers (2D) and height (p<0.01), but there was no significant correlation of index finger length with weight and BMI (p>0.05).Conclusion: In this study, we found variation in index finger lengths of both hands of Bangladeshi male subjects, which needs further study and comparison.J Enam Med Col 2017; 7(2): 90-94

Evidence that low-threshold muscle afferents evoke long-latency stretch reflexes in human hand muscles

1991 ◽  
Vol 65 (5) ◽  
pp. 1089-1097 ◽  
Author(s):  
J. Noth ◽  
M. Schwarz ◽  
K. Podoll ◽  
F. Motamedi
Keyword(s):  
Index Finger ◽  
Angular Displacement ◽  
Metacarpophalangeal Joint ◽  
Muscle Afferents ◽  
Human Hand ◽  
Hand Muscles ◽  
Long Latency ◽  
M2 Response ◽  
Spinal Afferents ◽  
Wrist Flexors

1. The aim of the present study was to identify the type of spinal afferents involved in the generation of the long-latency response in intrinsic human hand muscles. Position-controlled extensions were imposed on the index finger or on the wrist of healthy subjects who were exerting a steady voluntary flexion force at the relevant joint. Averaged surface electromyographic (EMG) responses of the first dorsal interosseus muscle (FDI) or of the wrist flexors were evaluated with respect to latency and size. 2. Small transient angular displacements of the index finger (1 degree, as measured at the metacarpophalangeal joint), which are supposed to excite primary rather than secondary afferents, evoked two clearly discernible EMG responses with mean latencies of 32.3 ms (M1 response) and 54.7 ms (M2 response), respectively. The size of the M2 response exceeded the size of the M1 response by 60%. In the wrist flexors, transient stretch (1 degree) gave rise to a large M1 response (latency 22.8 ms) and a small, inconstent M2 response. 3. Small-amplitude vibration of the index finger elicited EMG responses in the FDI that were qualitatively and quantitatively similar to those seen in response to small transient stretches of the index finger. This was also true for fast ramp-and-hold stretches (stretch velocity 400 degrees/s, amplitude 5 degrees), whereas slow ramp-and-hold stretches (125 degrees/s, 5 degrees) elicited predominantly M2 responses. 4. In the FDI, the mechanical threshold of the M1 and M2 response to the transient angular displacement was approximately 0.15 degrees, with a tendency for the M2 response to appear at a lower threshold.(ABSTRACT TRUNCATED AT 250 WORDS)

scholarly journals Design and Implement an Exoskeleton Arm for Reinforcement the Human Muscles after Stroke

2019 ◽  
Vol 22 (4) ◽  
pp. 252-258
Author(s):  
Duha Qais Abd-ul-Amir ◽  
Auns Qusai Hashim ◽  
Abdulnasir Hussin Ameer
Keyword(s):  
Stroke Rehabilitation ◽  
Elbow Flexion ◽  
Mobility Limitations ◽  
Basic Principles ◽  
Robotic Exoskeleton ◽  
Human Muscles ◽  
Negative Impacts ◽  
Exoskeleton Device ◽  
Flexion And Extension

Mobility limitations in stroke survivors yield negative impacts on the quality of life for such individuals. Rehabilitation is needed to help them recover and regain mobility. Accordingly, this study aims to design and validate a “Robotic Exoskeleton” intended for stroke rehabilitation. The basic principles of this robotic exoskeleton device are its dependence on electromyography signal and electronic microcontroller to provide an efficient physiotherapy exercises system.The robotic exoskeleton is a one degree of freedom which performs the flexion and extension of the elbow joint. After the design was completed, 19 subjects participated in this study: 4 healthy subjects, and 15 post-stroke patients.The results showed the benefit of robotic exoskeleton in increasing the elbow range of motion, where angle of elbow flexion was raised from the first physiotherapy session to maximum elbow flexion in the last session.

Pointing, Rainbows, and the Archaeology of Mind

Anthropos ◽  
2021 ◽  
Vol 116 (1) ◽  
pp. 145-162
Author(s):  
Robert Blust
Keyword(s):  
Index Finger ◽  
The Other ◽  
Geographical Region ◽  
Cultural Backgrounds ◽  
Human Interactions ◽  
Normal Human ◽  
Other World

For over a century anthropologists and folklorists have sporadically recorded a belief that one should not point at a rainbow, lest the offending finger become permanently bent, rot, be supernaturally severed, fall off, etc. In each case the belief was reported for a particular geographical region without apparent awareness of its presence elsewhere, and in no case was an explanation for this curious idea proposed. This paper documents what is called the “Rainbow Taboo” as a global phenomenon, found among peoples of quite varied cultural backgrounds, and it argues that the universality of the belief is a product of the interaction of two independent cognitive elements: an apparently innate sense that the rainbow is associated with the “other world,” and, secondly, a similar sense that pointing with the index finger is aggressive, and should not be used either in normal human interactions or more particularly against the supernatural.

Numerical and experimental performance estimation for a ExoFing - 2 DOFs finger exoskeleton

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
G Carbone ◽  
M Ceccarelli ◽  
C. E. Capalbo ◽  
G Caroleo ◽  
C Morales-Cruz
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Index Finger ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Performance Estimation ◽  
Experimental Performance ◽  
Finger Motion ◽  
User Friendly ◽  
Operation Characteristics

Abstract This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

Age and sex variations of the index finger flexion and extension strength in adult Bengalee population

2011 ◽  
Vol 19 (4) ◽  
pp. 265-272
Author(s):  
Sujaya De ◽  
Piyali Sengupta ◽  
Payel Maity ◽  
Amitava Pal ◽  
Prakash C. Dhara
Keyword(s):  
Index Finger ◽  
Finger Flexion ◽  
Flexion And Extension ◽  
Age And Sex

scholarly journals The physiological cost index of walking with a powered knee–ankle–foot orthosis in subjects with poliomyelitis: A pilot study

2015 ◽  
Vol 40 (4) ◽  
pp. 454-459 ◽  
Author(s):  
Mokhtar Arazpour ◽  
Monireh Ahmadi Bani ◽  
Mohammad Samadian ◽  
Mohammad E Mousavi ◽  
Stephen W Hutchins ◽  
...  
Keyword(s):  
Walking Speed ◽  
Knee Joints ◽  
Cost Index ◽  
Ankle Foot Orthosis ◽  
Physiological Cost ◽  
Active Flexion ◽  
Quasi Experimental ◽  
Locked Knee ◽  
Foot Orthosis ◽  
Flexion And Extension

Background: A powered knee–ankle–foot orthosis was developed to provide restriction of knee flexion during stance phase and active flexion and extension of the knee during swing phase of gait. Objective: The purpose of this study was to determine its effect on the physiological cost index, walking speed and the distance walked in people with poliomyelitis compared to when walking with a knee–ankle–foot orthosis with drop lock knee joints. Study design: Quasi experimental study. Methods: Seven subjects with poliomyelitis volunteered for the study and undertook gait analysis with both types of knee–ankle–foot orthosis. Results: Walking with the powered knee–ankle–foot orthosis significantly reduced walking speed ( p = 0.015) and the distance walked ( p = 0.004), and also, it did not improve physiological cost index values ( p = 0.009) compared to walking with the locked knee–ankle–foot orthosis. Conclusion: Using a powered knee–ankle–foot orthosis did not significantly improve any of the primary outcome measures during walking for poliomyelitis subjects. Clinical relevance This powered knee–ankle–foot orthosis design did not improve the physiological cost index of walking for people with poliomyelitis when compared to walking with a knee–ankle–foot orthosis with drop lock knee joints. This may have been due to the short training period used or the bulky design and additional weight of the powered orthosis. Further research is therefore warranted.

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