An approach to power assist hand exoskeleton for patients with paralysis

Hidekatsu Uchida, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The aim of this paper is to propose a novel robotic hand exoskeleton which can assist disabled people with grasping objects. Existing exoskeletons cannot measure force during contact motion, and this makes it difficult to achieve accurate grasp assistance. In the proposed system the exoskeletal finger is attached to the index and middle fingers, and the robotic finger is place on the palm side, which functions as a substitute of a thumb. The upper exoskeletal finger exerts assistive force on operator's fingers, and the lower robotic finger works as a force sensor by the use of Reaction Torque Observer. Thus, human grasping force is measured during grasping, and the environmental and human forces are estimated from measured torque. The proposed system realizes power assist control without using additive sensors like force sensors or EMG sensors. The effectiveness of the proposed method is demonstrated through simulation and experiment.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages657-662
Number of pages6
ISBN (Electronic)9781538619469
DOIs
Publication statusPublished - 2018 Jun 1
Event15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
Duration: 2018 Mar 92018 Mar 11

Publication series

NameProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018

Other

Other15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Country/TerritoryJapan
CityTokyo
Period18/3/918/3/11

Keywords

  • Exoskeleton
  • Force control
  • Power assist
  • Prosthetic
  • Robotic hand

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Mechanical Engineering
  • Control and Optimization

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