Current hand exoskeleton technologies for rehabilitation and assistive engineering
04 May 2012-International Journal of Precision Engineering and Manufacturing (Korean Society for Precision Engineering)-Vol. 13, Iss: 5, pp 807-824
TL;DR: A comprehensive review of hand exoskeleton technologies for rehabilitation and assistive engineering, from basic hand biomechanics to actuator technologies, is presented in this paper, where the main requirements of these hand ex-oskeleton devices are also identified and the mechanical designs of existing devices are classified.
Abstract: In this paper, we present a comprehensive review of hand exoskeleton technologies for rehabilitation and assistive engineering, from basic hand biomechanics to actuator technologies. Because of rapid advances in mechanical designs and control algorithms for electro-mechanical systems, exoskeleton devices have been developed significantly, but are still limited to use in larger body areas such as upper and lower limbs. However, because of their requirements for smaller size and rich tactile sensing capabilities, hand exoskeletons still face many challenges in many technical areas, including hand biomechanics, neurophysiology, rehabilitation, actuators and sensors, physical human-robot interactions and ergonomics. This paper reviews the state-of-the-art of active hand exoskeletons for applications in the areas of rehabilitation and assistive robotics. The main requirements of these hand exoskeleton devices are also identified and the mechanical designs of existing devices are classified. The challenges facing an active hand exoskeleton robot are also discussed.
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TL;DR: This paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies that has the potential to increase user freedom and independence through its portable waist belt pack and open palm design.
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TL;DR: This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges, and reports on the future perspectives of the field.
Abstract: In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand.
473 citations
Cites background or methods from "Current hand exoskeleton technologi..."
...Several research groups have indeed used force reflecting hand exoskeletons for rehabilitation purposes [77], [139], [150], [161], [162], [163], [164], [165], [166]....
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...[139] presented in 2012 a review on hand exoskeleton technologies for rehabiliation....
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TL;DR: The major developments occurred in the history, the key milestones during the evolution and major research challenges in the present day context of hardware systems of upper-limb exoskeleton robots are presented.
323 citations
26 May 2015
TL;DR: The design of a soft wearable exoskeleton that comprises of a glove embedded with pneumatic actuators of variable stiffness for hand assistive and rehabilitation application is presented, which could achieve hand grasping and pinching with acceptable range of motion and force.
Abstract: In this paper, we present the design of a soft wearable exoskeleton that comprises of a glove embedded with pneumatic actuators of variable stiffness for hand assistive and rehabilitation application. The device is lightweight and easily wearable due to the usage of soft pneumatic actuators. A key feature of the device is the variable stiffness of the actuators at different localities that not only conform to the finger profile during actuation, but also provides customizability for different hand dimensions. The actuators can achieve different bending profiles with variable stiffness implemented at different localities. Therefore, the device is able to perform different hand therapy exercises such as full fist, straight fist, hook fist and table top. The device was characterized in terms of its range of motion and maximum force output. Experiments were conducted to examine the differences between active and passive actuation. The results showed that the device could achieve hand grasping and pinching with acceptable range of motion and force.
234 citations
Cites background from "Current hand exoskeleton technologi..."
...For example, in cable driven and linkage-based devices, they are normally bulky and uncomfortable [3]; while in pneumatically driven devices, precise attachment of actuators to the joint rotational centers is required and longer setup time is expected [4]....
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TL;DR: A review of existing sensor fusion methods for wearable robots, both stationary Ones such as rehabilitation exoskeletons and portable ones such as active prostheses and full-body exoskeleton, and four approaches to combining multiple modalities are presented.
210 citations
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991 citations
"Current hand exoskeleton technologi..." refers background in this paper
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889 citations