scholarly journals A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
Eric M. Refour ◽  
Bijo Sebastian ◽  
Raghuraj J. Chauhan ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Healthcare Services ◽  
General Purpose ◽  
Robotic Hand ◽  
Linkage Mechanism ◽  
User Friendliness ◽  
Fully Integrated ◽  
Control Paradigm ◽  
Hand Exoskeleton ◽  
Experimental Trials ◽  
Series Elastic

Abstract This paper describes the design and control of a novel hand exoskeleton. A subcategory of upper extremity exoskeletons, hand exoskeletons have promising applications in healthcare services, industrial workplaces, virtual reality, and military. Although much progress has been made in this field, most of the existing systems are position controlled and face several design challenges, including achieving minimal size and weight, difficulty enforcing natural grasping motions, exerting sufficient grip strength, ensuring the safety of the users hand, and maintaining overall user friendliness. To address these issues, this paper proposes a novel, slim, lightweight linkage mechanism design for a hand exoskeleton with a force control paradigm enabled via a compact series elastic actuator. A detailed design overview of the proposed mechanism is provided, along with kinematic and static analyses. To validate the overall proposed hand exoskeleton system, a fully integrated prototype is developed and tested in a series of experimental trials.

scholarly journals Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Symmetry ◽  
2020 ◽  
Vol 12 (9) ◽  
pp. 1470 ◽  
Author(s):  
Flaviu Ionuț Birouaș ◽  
Radu Cătălin Țarcă ◽  
Simona Dzitac ◽  
Ioan Dzitac
Keyword(s):  
Mechanical Design ◽  
Experimental Testing ◽  
Motor Impairment ◽  
Human Hand ◽  
Underactuated System ◽  
Robotic Hand ◽  
Advantages And Disadvantages ◽  
Hand Exoskeleton ◽  
Robotic Devices ◽  
And Behavior

Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation

2015 ◽  
Vol 8 (2) ◽  
pp. 140-151 ◽  
Author(s):  
Daniele Leonardis ◽  
Carmelo Chisari ◽  
Massimo Bergamasco ◽  
Antonio Frisoli ◽  
Michele Barsotti ◽  
...  
Keyword(s):  
Robotic Hand ◽  
Hand Exoskeleton

scholarly journals porE: A Code for Deterministic and Systematic Analyses of Porosities

2020 ◽  
Author(s):  
Kai Trepte ◽  
Sebastian Schwalbe
Keyword(s):  
Reference Values ◽  
Metal Organic Frameworks ◽  
Stochastic Averaging ◽  
General Purpose ◽  
Size Distributions ◽  
User Friendliness ◽  
Linear Relationships ◽  
Pore Size Distributions ◽  
Metal Organic ◽  
Clear Differentiation

Accurate numerical calculations of porosities and related properties are of importance when analyzing metal-organic frameworks (MOFs). <br>We present porE, an open-source, general-purpose implementation to compute such properties and discuss <br>all results regarding their sensitivity to numerical parameters.<br>Our code combines the numerical efficiency of Fortran with the user-friendliness of Python.<br>Three different approaches to calculate porosities are implemented in porE, and<br>their advantages and drawbacks are discussed. In contrast to commonly used implementations, <br>our approaches are entirely deterministic and do not require any stochastic averaging.<br>In addition to the calculation of porosities, porE can calculate pore size distributions and offers the possibility to analyze pore windows. <br>The underlying approaches are outlined, and pore windows are discussed concerning their impact on the analyzed porosities. <br>Comparisons with reference values aim for a clear differentiation <br>between void and accessible porosities, which we provide for a small benchmark set consisting of 8 MOFs.<br>In addition, our approaches are used for a bigger benchmark set containing 370 MOFs, <br>where we determine linear relationships within our approaches as well as to reference values. <br>We show how these relationships can be used to derive corrections to a give porosity approach, <br>minimizing its mean error. As a highlight we show how complex workflows can be <br>designed with a few lines of Python code using porE.<br>

scholarly journals HOMONYMY IN ENGLISH MONOLINGUAL GENERAL-PURPOSE DICTIONARIES

2021 ◽  
Vol 18 (48) ◽  
pp. 37-51
Author(s):  
Ana Halas Popović ◽  
Keyword(s):  
Semantic Relatedness ◽  
General Purpose ◽  
User Friendliness ◽  
Organizational Principle ◽  
Definition Of ◽  
The Given ◽  
Language Description ◽  
English Monolingual

The focus of this paper is the treatment of homonymy in selected monolingual general-purpose dictionaries of English. The aim of the analysis presented in this paper is to reveal the perception of homonymy and its lexicographic significance in the analyzed dictionaries, which involves the answer to the question whether these dictionaries mark homonymy at all, and then, if yes, the determination of the criterion used for the identification of homonymy, as well as the definition of the overall lexicographic strategy adopted by the given dictionaries in their treatment of homonymy. The results of the analysis have shown that the analyzed dictionaries do use homonymy as an organizational principle in their macrostructure. Furthermore, all these dictionaries use the semantic criterion based on mutual relatedness of senses in their identification of homonymy. However, the application of this criterion does not always produce the same outcome in the given dictionaries due to the gradient nature of semantic relatedness and various interpretations it is subject to. It has also been observed that the analyzed dictionaries do not consistently mark semantic homonymy at any cost since their gen- eral strategy in the treatment of homonymy can be defined as balancing between adequate language description and user-friendliness.

scholarly journals sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

2021 ◽  
Author(s):  
Luis Contreras ◽  
Yosuke Matsusaka ◽  
Takashi Yamamoto ◽  
Hiroyuki Okada
Keyword(s):  
General Purpose ◽  
Domestic Service ◽  
Service Robots ◽  
Annual Conference ◽  
Domestic Environment ◽  
Fully Integrated ◽  
The World ◽  
Robot Systems

Although the skills required to solve isolated robotics problems are reaching amazing performances recently, we propose the evaluation of such individual solutions in fully integrated robot systems tested in real daily situations like those presented at international robotics competitions. The simulation Domestic Standard Platform League (sDSPL), which utilizes the HSR simulator developed for the World Robot Summit, surges from the necessity to standardise and spread the research on Domestic Service Robots where a series of solutions can be tested to solve a general-purpose task in a standard domestic environment; this approach has been proven successful at several international competitions, namely, the RoboCup Japan Open, the Mexican Tournament of Robotics, and the RoboCup 2021.<div><br></div><div>**This work was accepted to The 39th Annual Conference of the Robotics Society of Japan.<br></div>

scholarly journals A novel hand exoskeleton with series elastic actuation for modulated torque transfer

Mechatronics ◽  
2019 ◽  
Vol 61 ◽  
pp. 69-82 ◽  
Author(s):  
Dario Marconi ◽  
Andrea Baldoni ◽  
Zach McKinney ◽  
Marco Cempini ◽  
Simona Crea ◽  
...  
Keyword(s):  
Hand Exoskeleton ◽  
Series Elastic
Sign in / Sign up

Export Citation Format

Share Document