0
Design Innovation Paper

Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration

[+] Author and Article Information
Eric Refour

Mem. ASME
Robotics and Mechatronics Laboratory,
Electrical & Computer Engineering Department,
Virginia Tech,
Blacksburg, VA 24060
e-mail: erefour@vt.edu

Bijo Sebastian

Mem. ASME
Robotics and Mechatronics Laboratory,
Mechanical Engineering Department,
Virginia Tech,
Blacksburg, VA 24060
e-mail: bijo7@vt.edu

Pinhas Ben-Tzvi

Mem. ASME
Robotics and Mechatronics Laboratory,
Mechanical Engineering Department,
Virginia Tech,
Blacksburg, VA 24060;
Robotics and Mechatronics Laboratory,
Electrical & Computer Engineering Department,
Virginia Tech,
Blacksburg, VA 24060
e-mail: bentzvi@vt.edu

1Corresponding author.

Manuscript received September 21, 2017; final manuscript received December 12, 2017; published online January 29, 2018. Assoc. Editor: Venkat Krovi.

J. Mechanisms Robotics 10(2), 025002 (Jan 29, 2018) (9 pages) Paper No: JMR-17-1307; doi: 10.1115/1.4038775 History: Received September 21, 2017; Revised December 12, 2017

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.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

MANUS VR, 2014, “The Pinnacle of VR Controllers,” MANUS VR, Eindhovan, The Netherlands, accessed Dec. 26, 2017, www.manus-vr.com
CyberGlove Systems, 2009, “CyberGrasp,” CyberGlove Systems Inc., San Jose, CA, accessed Sept. 14, 2017, http://www.cyberglovesystems.com/cybergrasp/
Tatsumi, H. , Murai, Y. , Sekita, I. , Tokumasu, S. , and Miyakawa, M. , 2016, “Cane Walk in the Virtual Reality Space Using Virtual Haptic Sensing: Toward Developing Haptic VR Technologies for the Visually Impaired,” IEEE International Conference on Systems, Man, and Cybernetics (SMC), Kowloon, China, Oct. 9–12, pp. 2360–2365.
Ito, S. , Kawasaki, H. , Ishigure, Y. , Natsume, M. , Mouri, T. , and Nishimoto, Y. , 2011, “A Design of Fine Motion Assist Equipment for Disabled Hand in Robotic Rehabilitation System,” J. Franklin Inst., 348(1), pp. 79–89. [CrossRef]
Teixeira, C. D. C. , Marx, F. C. , and De Oliveira, J. C. , 2016, “A Haptic Rehabilitation System,” 18th Symposium on Virtual and Augmented Reality (SVR), Gramado, Brazil, June 21–24, pp. 188–192.
Heo, P. , Gu, G. M. , Jin Lee, S. , Rhee, K. , and Kim, J. , 2012, “Current Hand Exoskeleton Technologies for Rehabilitation and Assistive Engineering,” Int. J. Precis. Eng. Manuf., 13(5), pp. 807–824. [CrossRef]
Ma, Z. , and Ben-Tzvi, P. , 2013, “Tendon Transmission Efficiency of a Two-Finger Haptic Glove,” IEEE International Symposium on Robotic and Sensors Environments (ROSE), Washington, DC, Oct. 21–23, pp. 13–18.
Ho, N. S. K. , Tong, K. Y. , Hu, X. L. , Fung, K. L. , Wei, X. J. , Rong, W. , and Susanto, E. A. , 2011, “An EMG-Driven Exoskeleton Hand Robotic Training Device on Chronic Stroke Subjects: Task Training System for Stroke Rehabilitation,” IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29–July 1, pp. 1–5.
Iqbal, J. , Khan, H. , Tsagarakis, N. G. , and Caldwell, D. G. , 2014, “A Novel Exoskeleton Robotic System for Hand Rehabilitation—Conceptualization to Prototyping,” Biocybern. Biomed. Eng., 34(2), pp. 79–89. [CrossRef]
Arata, J. , Ohmoto, K. , Gassert, R. , Lambercy, O. , Fujimoto, H. , and Wada, I. , 2013, “A New Hand Exoskeleton Device for Rehabilitation Using a Three-Layered Sliding Spring Mechanism,” IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6–10, pp. 3902–3907.
Worsnopp, T. T. , Peshkin, M. A. , Colgate, J. E. , and Kamper, D. G. , 2007, “An Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke,” IEEE Tenth International Conference on Rehabilitation Robotics (ICORR), Noordwijk, The Netherlands, June 13–15, pp. 896–901.
Takagi, M. , Iwata, K. , Takahashi, Y. , Yamamoto, S. I. , Koyama, H. , and Komeda, T. , 2009, “Development of a Grip Aid System Using Air Cylinders,” IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12–17, pp. 2312–2317.
Ertas, I. H. , Hocaoglu, E. , Barkana, D. E. , and Patoglu, V. , 2009, “Finger Exoskeleton for Treatment of Tendon Injuries,” 11th IEEE International Conference on Rehabilitation Robotics (ICORR), Kyoto, Japan, June 23–26, pp. 194–201.
Hasegawa, Y. , Mikami, Y. , Watanabe, K. , and Sankai, Y. , 2008, “Five-Fingered Assistive Hand With Mechanical Compliance of Human Finger,” IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 19–23, pp. 718–724.
Zhou, M. A. , Ben-Tzvi, P. , and Danoff, J. , 2015, “Hand Rehabilitation Learning System With an Exoskeleton Robotic Glove,” IEEE Trans. Neural Syst. Rehabil. Eng., 24(12), pp. 1323–1332. [PubMed]
Ben-Tzvi, P. , Danoff, J. , and Ma, Z. , 2016, “The Design Evolution of a Sensing and Force-Feedback Exoskeleton Robotic Glove for Hand Rehabilitation Application,” ASME J. Mech. Rob., 8(5), p. 051019. [CrossRef]
Ben-Tzvi, P. , and Ma, Z. , 2015, “Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove,” IEEE Trans. Neural Syst. Rehabil. Eng., 23(6), pp. 992–1002. [CrossRef] [PubMed]
Ma, Z. , and Ben-Tzvi, P. , 2011, “An Admittance-Type Haptic Device—RML Glove,” ASME Paper No. IMECE2011-64108.
Ma, Z. , and Ben-Tzvi, P. , 2015, “Design and Optimization of a Five-Finger Haptic Glove Mechanism,” ASME J. Mech. Rob., 7(4), p. 041008. [CrossRef]
In, H. , and Cho, K. , 2015, “Exo-Glove: Soft Wearable Robot for the Hand Using Soft Tendon Routing System,” IEEE Rob. Autom., 22(1), pp. 97–105. [CrossRef]
Lee, S. W. , Landers, K. A. , and Park, H. S. , 2014, “Development of a Biomimetic Hand Exotendon Device (BiomHED) for Restoration of Functional Hand Movement Post-Stroke,” IEEE Trans. Neural Syst. Rehabil. Eng., 22(4), pp. 886–898. [CrossRef] [PubMed]
Nycz, C. J. , Delph, M. A. , and Fischer, G. S. , 2015, “Modeling and Design of a Tendon Actuated Soft Robotic Exoskeleton for Hemiparetic Upper Limb Rehabilitation,” Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Milan, Italy, Aug. 25–29, pp. 3889–3892.
Hasegawa, Y. , Tokita, J. , Kamibayashi, K. , and Sankai, Y. , 2011, “Evaluation of Fingertip Force Accuracy in Different Support Conditions of Exoskeleton,” IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9–13, pp. 680–685.
Koo, I. , Byunghyun Kang, B. , and Cho, K.-J. , 2013, “Development of Hand Exoskeleton Using Pneumatic Artificial Muscle Combined With Linkage,” J. Korean Soc. Precis. Eng., 11(11), pp. 1217–1224. [CrossRef]
Polygerinos, P. , Wang, Z. , Galloway, K. C. , Wood, R. J. , and Walsh, C. J. , 2015, “Soft Robotic Glove for Combined Assistance and At-Home Rehabilitation,” Rob. Auton. Syst., 73, pp. 135–143. [CrossRef]
Tadano, K. , Akai, M. , Kadota, K. , and Kawashima, K. , 2010, “Development of Grip Amplified Glove Using Bi-Articular Mechanism With Pneumatic Artificial Rubber Muscle,” IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3–7, pp. 2363–2368.
Liu, M. , and Xiong, C. , 2014, “Synergistic Characteristic of Human Hand During Grasping Tasks in Daily Life,” International Conference on Intelligent Robotics and Applications (ICIRA), Guangzhou, China, Dec. 17–20, pp. 67–76.
Hook, W. E. , and Stanley, J. K. , 1986, “Assessment of Thumb to Index Pulp to Pulp Pinch Grip Strengths,” J. Hand Surg. Am., 11(1), pp. 91–92. [CrossRef]
Hemmi, K. , and Inoue, K. , 2000, “A Proposal of Three Dimensional Movement Model for Index Finger and Thumb,” Fourth Asia-Pacific Conference on Control and Measurement, Guilin, China, July 9–12, pp. 241–246.
Hara, A. , Yamauchi, Y. , and Kusunose, K. , 1994, “Analysis of Thumb and Index Finger Joints During Pinching Motion and Writing a Cross, as Measured by Electrogoniometers,” Clinical Biomechanics and Related Research, Y. Hirasawa, C. B. Sledge, and S. L.-Y. Woo, eds., Springer, Tokyo, Japan, pp. 282–293. [CrossRef]
Bekey, G. A. , Tomovic, R. , and Zeljkovic, I. , 1990, “Control Architecture for the Belgrade/USC Hand,” Dexterous Robot Hands, S. T. Venkataraman and T. Iberall, eds., Springer, New York, pp. 136–149. [CrossRef]
Ma, Z. , and Ben-Tzvi, P. , 2015, “RML Glove-an Exoskeleton Glove Mechanism With Haptics Feedback,” IEEE/ASME Trans. Mechatronics, 20(2), pp. 641–652. [CrossRef]
Yu, C. , and Peng, Q. , 2006, “Robust Recognition of Checkerboard Pattern for Camera Calibration,” Opt. Eng., 45(9), p. 93201. [CrossRef]
Pratt, J. , Krupp, B. , Morse, C. , Pratt, J. , and Krupp, B. , 2002, “Feature Series Elastic Actuators for High Fidelity Force Control,” Ind. Rob: Int. J., 29(3), pp. 234–241. [CrossRef]
Pratt, G. A., and Williamson, M. M., 1995, “Series Elastic Actuators,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, Aug. 5–9, pp. 399–406.

Figures

Grahic Jump Location
Fig. 2

Anatomy of the human hand

Grahic Jump Location
Fig. 3

Design of the mechanism (a) index finger and (b) thumb (both are shown for the left hand)

Grahic Jump Location
Fig. 4

Index mechanism showing two configurations and the design parameters for kinematic modeling. The relaxed configuration is shown in gray, while the black and white schematic shows a flexion configuration.

Grahic Jump Location
Fig. 5

Simulation results (a) desired index finger trajectory starting at the origin of (0, 0) and (b) index finger joint angles

Grahic Jump Location
Fig. 6

Simulation results (a) desired thumb trajectory starting at the origin of (0, 0) and (b) thumb joint angles

Grahic Jump Location
Fig. 7

Design of the tip holder shown on finger mechanism (same for thumb mechanism)

Grahic Jump Location
Fig. 8

System architecture of exoskeleton glove

Grahic Jump Location
Fig. 9

Experimental setup for the prototype: 1—exoskeleton glove on mannequin, 2—embedded controller, 3—compressor, 4—air tank

Grahic Jump Location
Fig. 10

Experimental analysis at various stages of the bending motion: (a) index finger and (b) thumb

Grahic Jump Location
Fig. 11

Experimental results for (a) index finger joints and (b) thumb joints

Grahic Jump Location
Fig. 12

Prototype on a human hand: 1—absolute position sensor, 2—FSR sensor, 3—vibration motor, and 4—pneumatic actuator

Grahic Jump Location
Fig. 13

Proposed SEA design

Grahic Jump Location
Fig. 14

3D printed prototype of SEA module

Grahic Jump Location
Fig. 15

Proposed exo-glove design with electric actuation and SEA

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In