Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand
For solving the problem how the hand incapacitation patients do rehabilitation training and daily life easily, an under-actuated exoskeleton hand is designed. Firstly, aiming at the coupling motion between joints, a multi-link and gear transmission system is designed and a single drive to drive the...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.027 |
| _version_ | 1826882695455571968 |
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| author | Zhao Li Yanjun Zhao Xueyu Qiao Wenlong Liu Bingqi Jia |
| author_facet | Zhao Li Yanjun Zhao Xueyu Qiao Wenlong Liu Bingqi Jia |
| author_sort | Zhao Li |
| collection | DOAJ |
| description | For solving the problem how the hand incapacitation patients do rehabilitation training and daily life easily, an under-actuated exoskeleton hand is designed. Firstly, aiming at the coupling motion between joints, a multi-link and gear transmission system is designed and a single drive to drive the entire finger movement for under-actuation rehabilitation training is achieved by studying the physiological structure of the human hand. Then, the kinematics model of a single finger is established by using analytic method. The four-finger fit grip model is established by the kinematics model of a single finger, and the simulation is carried out. Finally, kinematics simulation analysis and prototype experiment are carried out. Through the comparative analysis of the results, the exoskeleton hand movement realizes the expected motion with reasonable motion and small error. |
| first_indexed | 2024-03-13T09:17:03Z |
| format | Article |
| id | doaj.art-508b64925e7147b1a45d381e2175546a |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T03:17:22Z |
| publishDate | 2019-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-508b64925e7147b1a45d381e2175546a2025-01-10T13:57:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-09-014315415830642217Design and Experiment of Under-actuated Rehabilitation Exoskeleton HandZhao LiYanjun ZhaoXueyu QiaoWenlong LiuBingqi JiaFor solving the problem how the hand incapacitation patients do rehabilitation training and daily life easily, an under-actuated exoskeleton hand is designed. Firstly, aiming at the coupling motion between joints, a multi-link and gear transmission system is designed and a single drive to drive the entire finger movement for under-actuation rehabilitation training is achieved by studying the physiological structure of the human hand. Then, the kinematics model of a single finger is established by using analytic method. The four-finger fit grip model is established by the kinematics model of a single finger, and the simulation is carried out. Finally, kinematics simulation analysis and prototype experiment are carried out. Through the comparative analysis of the results, the exoskeleton hand movement realizes the expected motion with reasonable motion and small error.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.027Exoskeleton handConnecting rod transmissionKinematics modelingPrototype experiment |
| spellingShingle | Zhao Li Yanjun Zhao Xueyu Qiao Wenlong Liu Bingqi Jia Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand Jixie chuandong Exoskeleton hand Connecting rod transmission Kinematics modeling Prototype experiment |
| title | Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand |
| title_full | Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand |
| title_fullStr | Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand |
| title_full_unstemmed | Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand |
| title_short | Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand |
| title_sort | design and experiment of under actuated rehabilitation exoskeleton hand |
| topic | Exoskeleton hand Connecting rod transmission Kinematics modeling Prototype experiment |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.027 |
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