This paper presents the design, implementation, and experimental validation of a haptic glove mechanism: the RML glove (Robotics and Mechatronics Lab). The designed haptic interface is a lightweight, portable, and self-contained mechatronic system that fits on a bare hand and provides haptic force feedback to each finger of the hand without constraining their movement. In order to experimentally test the new design, teleportation with this glove for mobile robot navigation is also studied. By comparing teleportation experiments with and without force feedback, the results show that this new admittance (using force as input and position as output) glove with force feedback can provide effective force feedback to the user and augment telepresence.

RML Glove—An Exoskeleton Glove Mechanism With Haptics Feedback

A novel exoskeleton robotic system for hand rehabilitation - Conceptualization to prototyping

The development of dynamic hand orthoses is a fast-growing field of research and has resulted in many different devices. A large and diverse solution space is formed by the various mechatronic components which are used in these devices. They are the result of making complex design choices within the constraints imposed by the application, the environment and the patient’s individual needs. Several review studies exist that cover the details of specific disciplines which play a part in the developmental cycle. However, a general collection of all endeavors around the world and a structured overview of the solution space which integrates these disciplines is missing. In this study, a total of 165 individual dynamic hand orthoses were collected and their mechatronic components were categorized into a framework with a signal, energy and mechanical domain. Its hierarchical structure allows it to reach out towards the different disciplines while connecting them with common properties. Additionally, available arguments behind design choices were collected and related to the trends in the solution space. As a result, a comprehensive overview of the used mechatronic components in dynamic hand orthoses is presented.

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A structured overview of trends and technologies used in dynamic hand orthoses.

Abstract We have developed a new batch fabrication process of a shape memory alloy (SMA) sheet based on electrochemical pulse etching with a sacrificial dummy metal layer. The method has realized a throughout micromachining of the SMA sheet. Using the new batch fabrication process, flat meandering S-shape SMA actuators of 38 μm in thickness have been developed. The actuators whose widths were narrower than 290 μm could generate the forces over 75 mN. The batch fabrication process was also applied to a micromachining of NiTi super elastic alloy (SEA) helical coils. A small outer diameter active catheter was developed by using the flat meandering SMA actuators of 290 μm in width and the SEA helical coil of about 460 μm in outer diameter. The outer diameter of the catheter without an outer tube was 0.8 mm. A silicon rubber outer tube of 75 μm in wall thickness was put on the catheter, nevertheless, the outer diameter was smaller than 1 mm. The bending angle of the developed active catheter without the outer tube was about 50°at heating current of 60 mA. The bending angle tended to be lower after the outer tube was put on, however, the catheter with outer tube could be bent to the angle of 35°.

Batch fabrication flat meandering shape memory ally actuator for active catheter

This paper presents a new exoskeleton with 4 degrees of freedom (DOF) for index finger rehabilitation. The device can generate bi-directional movement for all joints of the finger through cable transmission, which is required for passive and active trainings. With two prismatic kinematic joints in the design, it can accommodate to some extent variety of hand sizes. The kinematic relation between the device joint angles and the corresponding finger joint angles is simple which greatly simplifies the high level motion control. As the motor capability of patients may be different and the range of motion of the finger may change along with the rehabilitation progress, it is important to take the changes into consideration. And the preliminary experiment has shown that the proposed device is capable of accommodating to these varieties.

Design of an exoskeleton for index finger rehabilitation

Human hand is easy to be injured. As physical rehabilitation therapy after a hand operation always takes a long time, the curative effect gets worse and the social and financial hardship with physical deterioration can be caused. A CPM machine is a mechanism based on the rehabilitation theory of continuous passive motion (CPM). To improve rehabilitation results and validate the CPM theory we have developed a portable exoskeleton based CPM machine. The device can be easily attached and also be adjusted to fit different hand sizes. And during the finger's flexion and extension motion the machine can always exert perpendicular forces on the finger phalanges. It can achieve the precise control of scope, force and speed of the moving fingers. Finally based on its mechanical structure, a kinematic validation and simulation including kinematic simulation and dynamic simulation have been carried out.

Design and development of a portable exoskeleton based CPM machine for rehabilitation of hand injuries

In order to offer a method for the rehabilitation of injured fingers and a means of quantitative detection and evaluation, an exoskeleton based continuous passive motion (CPM) machine is presented in this paper. Corresponding to each finger of human hand, the CPM machine has 4 degrees of freedom (DOF) driven by two DC motors. The joint force and position sensors are all integrated into the machine. The device can be easily attached and also be adjusted to fit different hand sizes. During the injured fingerpsilas flexion and extension motion the machine can always exert perpendicular forces on the finger phalanges, meanwhile it can achieve the precise control of scope, force and speed of the moving fingers. In order to control the CPM machine, we have also designed an embedded control system based on S3C2410 (a kind of 32-bit RISC microprocessor). The whole system is open-ended for new functions and applications. The function modularization method provides a new thinking of design for the control system.

Development of a multi-DOF exoskeleton based machine for injured fingers

This paper focuses on the transient behavior of a simple active catheter composed of a bias stainless steel spring and a one-way SMA coil spring. We combine the bending mechanics derived using a circular arc model, the SMA actuator characteristic described by Liang's model, and a heat transfer model to form the dynamics of the catheter. The phase transformation condition is modified according to whether there is overlapping between two phase transform bands. The response of derived dynamic model is simulated and verified for both complete and incomplete phase transformation. A self-tuning fuzzy PID controller is also designed to be used for such a SMA structure, which exhibits effective performance through simulations.

A dynamic model for the active catheter actuated by the shape memory alloy coil spring

Working in unknown environment has become a fundamental requirement of mobile robot manipulation system. This application scenarios require robots to have some basic capabilities, such as the fast and flexible locomotion, dexterous manipulation, and environmental interaction. However, most studies have only focus on just one of the aspects, which restricts the actual applications. This paper attempts to show a novel design of the mobile robot manipulation system with all above capabilities. The system consists of a mobile platform and a reconfigurable 7 degrees of freedom (DOF) robotic arm. The quadruped and wheeled locomotion is realized on the mobile platform. Different from traditional mobile robot manipulation system, a new type of reconfigurable connecting mechanism (RCM) is developed to realize the quick change the configurations and modules. Due to these designs, the system can adapt for different tasks. Besides, the hardware and software of the control system are introduced. Finally, the performances of the developed mobile robot manipulation system are validated by a series of experiments.

Peng Wang

Papers

Design and development of a portable exoskeleton based CPM machine for rehabilitation of hand injuries

Development of a multi-DOF exoskeleton based machine for injured fingers

A dynamic model for the active catheter actuated by the shape memory alloy coil spring

Mobile Robot Manipulation System with a Reconfigurable Robotic Arm: Design and Experiment *