Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteris...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/22/10825 |
| _version_ | 1797511320915935232 |
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| author | Qiaoling Meng Zhijia Shen Zhiyang Nie Qingyun Meng Zhiyu Wu Hongliu Yu |
| author_facet | Qiaoling Meng Zhijia Shen Zhiyang Nie Qingyun Meng Zhiyu Wu Hongliu Yu |
| author_sort | Qiaoling Meng |
| collection | DOAJ |
| description | This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering. |
| first_indexed | 2024-03-10T05:44:39Z |
| format | Article |
| id | doaj.art-e9885feaf60b4709afca473f6809a359 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T05:44:39Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e9885feaf60b4709afca473f6809a3592023-11-22T22:19:27ZengMDPI AGApplied Sciences2076-34172021-11-0111221082510.3390/app112210825Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling ModelQiaoling Meng0Zhijia Shen1Zhiyang Nie2Qingyun Meng3Zhiyu Wu4Hongliu Yu5Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaCollege of Rehabilitation Sciences, Shanghai University of Medicine and Health Sciences, Shanghai 201318, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaThis paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.https://www.mdpi.com/2076-3417/11/22/10825exoskeletonhand rehabilitationhuman-machineflexible hingesoft robotics |
| spellingShingle | Qiaoling Meng Zhijia Shen Zhiyang Nie Qingyun Meng Zhiyu Wu Hongliu Yu Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model Applied Sciences exoskeleton hand rehabilitation human-machine flexible hinge soft robotics |
| title | Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model |
| title_full | Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model |
| title_fullStr | Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model |
| title_full_unstemmed | Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model |
| title_short | Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model |
| title_sort | modeling and evaluation of a novel hybrid driven compliant hand exoskeleton based on human machine coupling model |
| topic | exoskeleton hand rehabilitation human-machine flexible hinge soft robotics |
| url | https://www.mdpi.com/2076-3417/11/22/10825 |
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