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 -