Control Design and Testing for a Finger Exoskeleton Mechanism
This paper describes a control strategy for a linkage finger exoskeleton mechanism with two degrees of freedom. To characterise the performance of the proposed finger motion assistance device, a replica of a human finger is prototyped to mimic human finger motion and to the testing effect of assista...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/8/230 |
| _version_ | 1827618319062007808 |
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| author | Adithya Prakash Damarla Matteo Russo Marco Ceccarelli |
| author_facet | Adithya Prakash Damarla Matteo Russo Marco Ceccarelli |
| author_sort | Adithya Prakash Damarla |
| collection | DOAJ |
| description | This paper describes a control strategy for a linkage finger exoskeleton mechanism with two degrees of freedom. To characterise the performance of the proposed finger motion assistance device, a replica of a human finger is prototyped to mimic human finger motion and to the testing effect of assistance provided by the novel exoskeleton with results from grasp tests. A feasible control design is developed to achieve a robust grasp of an object using the proposed exoskeleton mechanism, which is validated with simulated and experimental results that show how the proposed control algorithm maintains the force within 3% of the desired value. The aim of the paper is to present a control design for the ExoFinger exoskeleton with low-cost easy operation features that are aligned with the similar characteristics of the mechanical design. |
| first_indexed | 2024-03-09T10:03:54Z |
| format | Article |
| id | doaj.art-e3d3c328c67d4124aafad494b83764c7 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T10:03:54Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-e3d3c328c67d4124aafad494b83764c72023-12-01T23:14:46ZengMDPI AGActuators2076-08252022-08-0111823010.3390/act11080230Control Design and Testing for a Finger Exoskeleton MechanismAdithya Prakash Damarla0Matteo Russo1Marco Ceccarelli2Laboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, ItalyFaculty of Engineering, University of Nottingham, Nottingham NG81BB, UKLaboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, ItalyThis paper describes a control strategy for a linkage finger exoskeleton mechanism with two degrees of freedom. To characterise the performance of the proposed finger motion assistance device, a replica of a human finger is prototyped to mimic human finger motion and to the testing effect of assistance provided by the novel exoskeleton with results from grasp tests. A feasible control design is developed to achieve a robust grasp of an object using the proposed exoskeleton mechanism, which is validated with simulated and experimental results that show how the proposed control algorithm maintains the force within 3% of the desired value. The aim of the paper is to present a control design for the ExoFinger exoskeleton with low-cost easy operation features that are aligned with the similar characteristics of the mechanical design.https://www.mdpi.com/2076-0825/11/8/230control designfinger exoskeletonsexperimental analysisfinger motion |
| spellingShingle | Adithya Prakash Damarla Matteo Russo Marco Ceccarelli Control Design and Testing for a Finger Exoskeleton Mechanism Actuators control design finger exoskeletons experimental analysis finger motion |
| title | Control Design and Testing for a Finger Exoskeleton Mechanism |
| title_full | Control Design and Testing for a Finger Exoskeleton Mechanism |
| title_fullStr | Control Design and Testing for a Finger Exoskeleton Mechanism |
| title_full_unstemmed | Control Design and Testing for a Finger Exoskeleton Mechanism |
| title_short | Control Design and Testing for a Finger Exoskeleton Mechanism |
| title_sort | control design and testing for a finger exoskeleton mechanism |
| topic | control design finger exoskeletons experimental analysis finger motion |
| url | https://www.mdpi.com/2076-0825/11/8/230 |
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