Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism

Ajay Bajaj; Vishal Jain; Prabhat Kumar; Aynur Unal; Anupam Saxena

doi:10.1007/978-981-15-4477-4_52

Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism

Ajay Bajaj, Vishal Jain, Prabhat Kumar, Aynur Unal, Anupam Saxena^*

^*Corresponding author for this work

Computational Design and Mechanics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

5 Citations (Scopus)

Abstract

The work proposes an underactuated design of a glove-like soft hand exoskeleton for grasping and lifting objects of varied shapes and sizes. Strings are used to flex all finger joints, assuming that finger anatomy of an impaired hand is intact. A pulley-based differential mechanism is designed to actuate all four fingers via a single motor to allow adaptive grasping. Two DC motors are used, one for flexion of all four fingers and the second for thumb flexion. Finger extension is passively achieved via elastic bands on the dorsal side. A prototype of the hand exoskeleton, weighing 300 g without battery is fabricated that occupies mm space over the palmer side of the forearm. Novelty in the design lies in reducing the required length of the existing pulley-based differential mechanism from 20 cm to 10 cm. Lightweight, and compactness make the device portable. Performance of the soft exoskeleton is demonstrated via testing it on a healthy subject.

Original language	English
Title of host publication	Mechanism and Machine Science
Subtitle of host publication	Select Proceedings of Asian MMS 2018
Editors	Dibakar Sen, Gondi Kondaiah Ananthasuresh, Santhakumar Mohan
Publisher	Springer
Pages	733-746
ISBN (Electronic)	978-981-15-4477-4
ISBN (Print)	978-981-15-4476-7
DOIs	https://doi.org/10.1007/978-981-15-4477-4_52
Publication status	Published - 2021
Event	5th Asian Mechanism and Machine Science Conference, MMS 2018 - Bengaluru, India Duration: 17 Dec 2019 → 20 Dec 2019

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	5th Asian Mechanism and Machine Science Conference, MMS 2018
Country/Territory	India
City	Bengaluru
Period	17/12/19 → 20/12/19

Keywords

Artificial tendon pulley system
Differential mechanism size reduction
Finger flexion-extension
Soft hand exoskeleton

Access to Document

10.1007/978-981-15-4477-4_52

Cite this

Bajaj, A., Jain, V., Kumar, P., Unal, A., & Saxena, A. (2021). Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism. In D. Sen, G. K. Ananthasuresh, & S. Mohan (Eds.), Mechanism and Machine Science : Select Proceedings of Asian MMS 2018 (pp. 733-746). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-981-15-4477-4_52

@inproceedings{929e2b30bec3450eaf8bd75e5538854b,

title = "Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism",

abstract = "The work proposes an underactuated design of a glove-like soft hand exoskeleton for grasping and lifting objects of varied shapes and sizes. Strings are used to flex all finger joints, assuming that finger anatomy of an impaired hand is intact. A pulley-based differential mechanism is designed to actuate all four fingers via a single motor to allow adaptive grasping. Two DC motors are used, one for flexion of all four fingers and the second for thumb flexion. Finger extension is passively achieved via elastic bands on the dorsal side. A prototype of the hand exoskeleton, weighing 300 g without battery is fabricated that occupies mm space over the palmer side of the forearm. Novelty in the design lies in reducing the required length of the existing pulley-based differential mechanism from 20 cm to 10 cm. Lightweight, and compactness make the device portable. Performance of the soft exoskeleton is demonstrated via testing it on a healthy subject.",

keywords = "Artificial tendon pulley system, Differential mechanism size reduction, Finger flexion-extension, Soft hand exoskeleton",

author = "Ajay Bajaj and Vishal Jain and Prabhat Kumar and Aynur Unal and Anupam Saxena",

year = "2021",

doi = "10.1007/978-981-15-4477-4_52",

language = "English",

isbn = "978-981-15-4476-7",

series = "Lecture Notes in Mechanical Engineering",

publisher = "Springer",

pages = "733--746",

editor = "Dibakar Sen and Ananthasuresh, {Gondi Kondaiah} and Santhakumar Mohan",

booktitle = "Mechanism and Machine Science",

note = "5th Asian Mechanism and Machine Science Conference, MMS 2018 ; Conference date: 17-12-2019 Through 20-12-2019",

}

Bajaj, A, Jain, V, Kumar, P, Unal, A & Saxena, A 2021, Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism. in D Sen, GK Ananthasuresh & S Mohan (eds), Mechanism and Machine Science : Select Proceedings of Asian MMS 2018. Lecture Notes in Mechanical Engineering, Springer, pp. 733-746, 5th Asian Mechanism and Machine Science Conference, MMS 2018, Bengaluru, India, 17/12/19. https://doi.org/10.1007/978-981-15-4477-4_52

Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism. / Bajaj, Ajay; Jain, Vishal; Kumar, Prabhat et al.
Mechanism and Machine Science : Select Proceedings of Asian MMS 2018. ed. / Dibakar Sen; Gondi Kondaiah Ananthasuresh; Santhakumar Mohan. Springer, 2021. p. 733-746 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism

AU - Bajaj, Ajay

AU - Jain, Vishal

AU - Kumar, Prabhat

AU - Unal, Aynur

AU - Saxena, Anupam

PY - 2021

Y1 - 2021

N2 - The work proposes an underactuated design of a glove-like soft hand exoskeleton for grasping and lifting objects of varied shapes and sizes. Strings are used to flex all finger joints, assuming that finger anatomy of an impaired hand is intact. A pulley-based differential mechanism is designed to actuate all four fingers via a single motor to allow adaptive grasping. Two DC motors are used, one for flexion of all four fingers and the second for thumb flexion. Finger extension is passively achieved via elastic bands on the dorsal side. A prototype of the hand exoskeleton, weighing 300 g without battery is fabricated that occupies mm space over the palmer side of the forearm. Novelty in the design lies in reducing the required length of the existing pulley-based differential mechanism from 20 cm to 10 cm. Lightweight, and compactness make the device portable. Performance of the soft exoskeleton is demonstrated via testing it on a healthy subject.

AB - The work proposes an underactuated design of a glove-like soft hand exoskeleton for grasping and lifting objects of varied shapes and sizes. Strings are used to flex all finger joints, assuming that finger anatomy of an impaired hand is intact. A pulley-based differential mechanism is designed to actuate all four fingers via a single motor to allow adaptive grasping. Two DC motors are used, one for flexion of all four fingers and the second for thumb flexion. Finger extension is passively achieved via elastic bands on the dorsal side. A prototype of the hand exoskeleton, weighing 300 g without battery is fabricated that occupies mm space over the palmer side of the forearm. Novelty in the design lies in reducing the required length of the existing pulley-based differential mechanism from 20 cm to 10 cm. Lightweight, and compactness make the device portable. Performance of the soft exoskeleton is demonstrated via testing it on a healthy subject.

KW - Artificial tendon pulley system

KW - Differential mechanism size reduction

KW - Finger flexion-extension

KW - Soft hand exoskeleton

UR - http://www.scopus.com/inward/record.url?scp=85088557109&partnerID=8YFLogxK

U2 - 10.1007/978-981-15-4477-4_52

DO - 10.1007/978-981-15-4477-4_52

M3 - Conference contribution

AN - SCOPUS:85088557109

SN - 978-981-15-4476-7

T3 - Lecture Notes in Mechanical Engineering

SP - 733

EP - 746

BT - Mechanism and Machine Science

A2 - Sen, Dibakar

A2 - Ananthasuresh, Gondi Kondaiah

A2 - Mohan, Santhakumar

PB - Springer

T2 - 5th Asian Mechanism and Machine Science Conference, MMS 2018

Y2 - 17 December 2019 through 20 December 2019

ER -

Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this