Hostname: page-component-7dd5485656-k8lnt Total loading time: 0 Render date: 2025-10-31T20:20:53.663Z Has data issue: false hasContentIssue false
  • English
  • Français

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

Published online by Cambridge University Press:  23 November 2021

G Carbone Open the ORCID record for G Carbone [Opens in a new window] ,
M Ceccarelli Open the ORCID record for M Ceccarelli [Opens in a new window] ,
C. E. Capalbo ,
G Caroleo Open the ORCID record for G Caroleo [Opens in a new window]  and
C Morales-Cruz
G Carbone*
Affiliation:
Department of Mechanical, Energy and Management Engineering, DIMEG, University of Calabria, Rende, Italy
M Ceccarelli
Affiliation:
Department of Industrial Engineering, DII, University of Rome Tor Vergata, Rome, Italy
C. E. Capalbo
Affiliation:
Department of Mechanical, Energy and Management Engineering, DIMEG, University of Calabria, Rende, Italy
G Caroleo
Affiliation:
Department of Mechanical, Energy and Management Engineering, DIMEG, University of Calabria, Rende, Italy
C Morales-Cruz
Affiliation:
Instituto Politécnico Nacional, GIIM: Group of Research and Innovation in Mechatronics, 07700 Mexico City, Mexico
*
*Corresponding author. E-mail: giuseppe.carbone@unical.it
Get access Rights & Permissions [Opens in a new window]

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.

Keywords

biomechanicsexoskeletonmotion assistanceperformance evaluationexperimental robotics

Information

Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1820 - 1832
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Heo, P., Gu, G. M., Lee, S.-J., Rhee, K. and Kim, J., “Current hand exoskeleton technologies for rehabilitation and assistive engineering,” Int. J. Precis. Eng. Manuf. 13(5), 807–824 (2012).CrossRefGoogle Scholar
Stein, J., Bishop, L., Gillen, G. and Helbok, R., “Robot-assisted exercise for hand weakness after stroke: A pilot study,” Am. J. Phys. Med. Rehabil. 90(11), 887–894 (2011).10.1097/PHM.0b013e3182328623CrossRefGoogle ScholarPubMed
Bataller, A., Cabrera, J., Clavijo, M. and Castillo, J., “Evolutionary synthesis rehabilitation,” Mech. Mach. Theory 105, 31–43 (2016).10.1016/j.mechmachtheory.2016.06.022CrossRefGoogle Scholar
Sarac, M., Solazzi, M. and Frisoli, A., “Design requirements of generic hand exoskeletons and survey of hand exoskeletons for rehabilitation, assistive, or haptic use,” IEEE Trans. Haptics 12(4), 400–413 (2019).10.1109/TOH.2019.2924881CrossRefGoogle ScholarPubMed
Agarwal, P., Fox, J., Yun, Y., O’Malley, M. K. and Deshpande, A. D., “An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization,” Int. J. Rob. Res. 34(14), 1747–1772 (2015).CrossRefGoogle Scholar
Cempini, M., Cortese, M. and Vitiello, N., “A powered finger-thumb wearable hand exoskeleton with self-aligning joint axes,” IEEE/ASME Trans. Mechatron. 20(2), 705–716 (2015).CrossRefGoogle Scholar
Li, M., He, B., Liang, Z., Zhao, C.-G., Chen, J., Zhuo, Y., Xu, G., Xie, J. and Althoefer, K., “An attention-controlled hand exoskeleton for the rehabilitation of finger extension and flexion using a rigid-soft combined mechanism,” Front. Neurorob. 13, paper 34 (2019).CrossRefGoogle ScholarPubMed
Li, J., Wang, S., Wang, J., Zheng, R., Zhang, Y. and Chen, Z., “Development of a hand exoskeleton system for index finger rehabilitation,” Chin. J. Mech. Eng. 25(2), 223–233 (2011).10.3901/CJME.2012.02.223CrossRefGoogle Scholar
Cui, L., Phan, A. and Allison, G., “Design and Fabrication of a Three Dimensional Printable Non- Assembly Articulated Hand Exoskeleton for Rehabilitation,” Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, Milan (2015) pp. 4627–4630.Google Scholar
Carmeli, E., Peleg, S., Bartur, G., Elbo, E. and Vatine, J. J., “HandTutor enhanced hand rehabilitation after stroke—a pilot study,” Physiother. Res. Int. 16(4), 191–200 (2011).10.1002/pri.485CrossRefGoogle Scholar
Heo, P. and Kim, J., “Power-assistive finger exoskeleton with a palmar opening at the fingerpad,” IEEE Trans. Biomed. Eng. 61(11), 2688–2697 (2014).10.1109/TBME.2014.2325948CrossRefGoogle ScholarPubMed
Ockenfeld, C., Tong, R. K., Susanto, E. A., Ho, S. K. and Hu, X. L., “Fine Finger Motor Skill Training with Exoskeleton Robotic Hand in Chronic Stroke: Stroke Rehabilitation,” IEEE International Conference on Rehabilitation Robotics, PMID: 24187211 (2013).Google Scholar
Cafolla, D. and Carbone, G., “A Study of Feasibility of a Human Finger Exoskeleton,” In: Service Orientation in Holonic and Multi-Agent Manufacturing and Robotics (Borangiu, T., Trentesaux, D. and Thomas, A., eds.), vol. 544 (Springer, Cham, 2014) pp. 355–364.CrossRefGoogle Scholar
Aragón-Martínez, A., Arias-Montiel, M., Lugo-González, E. and Tapia-Herrera, R., “Two-finger exoskeleton with force feedback for a mobile robot teleoperation,” Int. J. Adv. Rob. Syst. 17(1), 1–18 (2020).Google Scholar
Jana, M., Barua, B. G. and Hazarika, S. M., “Design and Development of a Finger Exoskeleton for Motor Rehabilitation using Electromyography Signals,” 2019 23rd International Conference on Mechatronics Technology (ICMT), SALERNO, Italy (2019) pp. 1–6.Google Scholar
Li, C., Yan, Y. and Ren, H., “Compliant finger exoskeleton with telescoping super-elastic transmissions,” J. Intell. Rob. Syst. 100(11), 435–444 (2020).10.1007/s10846-020-01186-0CrossRefGoogle Scholar
Carbone, G., Iannone, S. and Ceccarelli, M., “Regulation and control of LARM hand III,” Rob. Comput. Integr. Manuf. 26(2), 202–211 (2010).10.1016/j.rcim.2009.05.002CrossRefGoogle Scholar
Carbone, G., (ed.), Grasping in Robotics (Springer, London, 2013).10.1007/978-1-4471-4664-3CrossRefGoogle Scholar
Carbone, G., Gerding, E. C., Corves, B., Cafolla, D., Russo, M. and Ceccarelli, M., “Design of a two-DOFs driving mechanism for a motion-assisted finger exoskeleton,” Appl. Sci. 10(7), 1–23 (2020).CrossRefGoogle Scholar
Gerding, E. C., Ceccarelli, M., Carbone, G., Cafolla, D. and Russo, M., Mechanism for a finger exoskeleton. Italian Patent No. 102018000003847 (2020).Google Scholar
Siemens, Simcenter website https://www.plm.automation.siemens.com/global/en/products/simcenter/ (accessed on 30/10/2020).Google Scholar