Abstract
The paper presents the development of wearable robot called supernumerary robotic fingers (SRF) that can be integrated with 3D Animation. The robot comprises of two parts, robotic finger (RF) and robotic thumb (RT). RF is located next to little finger, and RT is located next to the thumb. The robot is driven by modified glove sensor. 3D CAD model is exported into SimMechanics for 3D Animation purpose under MATLAB/Simulink environment. Forward kinematics of the robot is studied using SimMechanics and the trajectory of each robotic fingertip will be calculated. Based on the experimental result, the robot and its 3D animation can be operated by a healthy person in real time. The robot can assist in object manipulation with ten-inch tablet using single human hand.
Highlights
In wearable robot, a supernumerary robot is an additional robotic limb that is used to help users in holding, lifting, manipulating objects, and making it easier to do a job
We develop a six degree of freedom (DOF) Supernumerary robotic fingers (SRF) as can be shown in figure 1
Based on the D-H parameter summarized in Table 1 and Table 2, the position of end effector in robotic thumb (RT) can be expressed from equation (1) to (3), and the end effector position of robotic finger (RF) can be written from equation (4) to (6) as follows
Summary
A supernumerary robot is an additional robotic limb that is used to help users in holding, lifting, manipulating objects, and making it easier to do a job. Supernumerary robotic fingers (SRF) has been extensively researched by the team from MIT [1,2,3,4]. Based on the research works, the SRF and the human finger can work together to perform object manipulation tasks with single hand. We develop a six degree of freedom (DOF) SRF as can be shown in figure 1. The human hand will wear modified glove sensor comprising three bend/flex sensor. The flex sensor has been utilized in previous research and can be used as input signal for robotic hand [5]. The sensor will read the bending motion of thumb, index, and middle finger of the human hand. The signal from sensor will be processed by microcontroller It will drive the SRF and 3D animation simultaneously
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