Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Flaviu Ionuț Birouaș,Radu Cătălin Țarcă,Ioan Dzitac,Simona Dzitac

doi:10.3390/sym12091470

Flaviu Ionuț Birouaș, Radu Cătălin Țarcă + Show 2 more

Open Access

https://doi.org/10.3390/sym12091470

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Journal: Symmetry	Publication Date: Sep 7, 2020
Citations: 13	License type: CC BY 4.0

Affiliation: University of Oradea, Aurel Vlaicu University of Arad

Abstract

Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

Highlights

This paper presents research and advances in the field of medical robotics, with a focus on data analysis of the symmetrical and asymmetrical mechanical behavior of the human hand during motor therapy rehabilitation using a novel robotic exoskeleton
This paper aims to develop a new concept of a rigid robotic exoskeleton that adapts to the symmetric and asymmetric geometry and behavior of the human hand for research purposes in the field of medical robotics
In most designs of hand exoskeletons, the Distal Interphalangeal (DIP) and Proximal Interphalangeal (PIP) joints are easy to actuate via an exoskeleton mechanism, while the MCP joint presents a bigger challenge to actuate properly

Summary

Introduction

This paper presents research and advances in the field of medical robotics, with a focus on data analysis of the symmetrical and asymmetrical mechanical behavior of the human hand during motor therapy rehabilitation using a novel robotic exoskeleton. Robotic exoskeletons continue to advance [11] and soon will become a big part in our daily lives, be it for medical rehabilitation, motor assistance for elder citizens, enhanced strength for military operations, or safer and easier work conditions in the modern factory environment. These types of robotic systems are slowly becoming an integral part of society [12], as a result, human–robot interfacing needs to be researched and understood in detail in order to improve the user experience, efficiency, and design of these devices. The human body is one of the most complex systems to attach to and augment with

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