A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance
Addressing the challenges faced by individuals with motor disabilities, which impedes ease in movement, coordination, or sensation, a low-weight hand exoskeleton was developed considering accessibility, low cost, adaptability, and mass manufacturing to overcome the impact of hand functioning disorde...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2024-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://www.matec-conferences.org/articles/matecconf/pdf/2024/05/matecconf_staaar2023_04003.pdf |
| _version_ | 1797248904632205312 |
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| author | Dhal Arpeet Majhi Durgeshwar Rout Ashish Kumar S. Soumya |
| author_facet | Dhal Arpeet Majhi Durgeshwar Rout Ashish Kumar S. Soumya |
| author_sort | Dhal Arpeet |
| collection | DOAJ |
| description | Addressing the challenges faced by individuals with motor disabilities, which impedes ease in movement, coordination, or sensation, a low-weight hand exoskeleton was developed considering accessibility, low cost, adaptability, and mass manufacturing to overcome the impact of hand functioning disorders on people's physical and social well-being. In this paper, a 12-DOF Hand exoskeleton consisting of a 6-DOF Arm and 6-DOF finger exoskeleton was designed and later its kinematic analysis was performed. By taking into consideration the constraints provided by the exoskeleton to human hand motion, the Forward kinematics, using Denavit- Hartenberg (D-H) parameters were conducted to determine its workspace. |
| first_indexed | 2024-04-24T20:22:00Z |
| format | Article |
| id | doaj.art-ae4e00358ec243b7944c70066cf45407 |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-04-24T20:22:00Z |
| publishDate | 2024-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-ae4e00358ec243b7944c70066cf454072024-03-22T08:05:30ZengEDP SciencesMATEC Web of Conferences2261-236X2024-01-013930400310.1051/matecconf/202439304003matecconf_staaar2023_04003A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for AssistanceDhal Arpeet0Majhi Durgeshwar1Rout Ashish Kumar2S. Soumya3School of Robotics, Defence Institute of Advanced Technology (DU)School of Robotics, Defence Institute of Advanced Technology (DU)Computational Mechanics, Indian Institute of TechnologySchool of Robotics, Defence Institute of Advanced Technology (DU)Addressing the challenges faced by individuals with motor disabilities, which impedes ease in movement, coordination, or sensation, a low-weight hand exoskeleton was developed considering accessibility, low cost, adaptability, and mass manufacturing to overcome the impact of hand functioning disorders on people's physical and social well-being. In this paper, a 12-DOF Hand exoskeleton consisting of a 6-DOF Arm and 6-DOF finger exoskeleton was designed and later its kinematic analysis was performed. By taking into consideration the constraints provided by the exoskeleton to human hand motion, the Forward kinematics, using Denavit- Hartenberg (D-H) parameters were conducted to determine its workspace.https://www.matec-conferences.org/articles/matecconf/pdf/2024/05/matecconf_staaar2023_04003.pdf |
| spellingShingle | Dhal Arpeet Majhi Durgeshwar Rout Ashish Kumar S. Soumya A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance MATEC Web of Conferences |
| title | A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance |
| title_full | A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance |
| title_fullStr | A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance |
| title_full_unstemmed | A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance |
| title_short | A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance |
| title_sort | robotic exoskeleton assistive device design and kinematic analysis of a hand exoskeleton for assistance |
| url | https://www.matec-conferences.org/articles/matecconf/pdf/2024/05/matecconf_staaar2023_04003.pdf |
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