Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.5 times the distal interphalangeal joint angle. The study aimed to comply with this constraint, by simultaneously distributing the forces over the distal and middle finger phalanges. For evaluation, the voluntary and exoskeleton flexions were compared based on the relation between the proximal and distal interphalangeal joint angles. The results showed that during the exoskeleton flexion the relation between the interphalangeal joints complied with the biomechanical constraint, where the proximal interphalangeal joint angle was 1.5 times larger than the distal interphalangeal joint. This ensures that the mechanism flexes the finger comfortably. The proposed solution is therefore a promising design for a novel soft exoskeleton that will be used for training and assistance of patients with hand paralysis.

OriginalsprogEngelsk
Titel2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
Antal sider6
ForlagIEEE
Publikationsdato2019
Sider1073-1078
ISBN (Elektronisk)978-1-7281-2755-2
DOI
StatusUdgivet - 2019
BegivenhedInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019) - Toronto, Canada
Varighed: 24 jun. 201928 jun. 2019

Konference

KonferenceInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019)
LandCanada
ByToronto
Periode24/06/201928/06/2019
NavnI E E E International Conference on Rehabilitation Robotics. Proceedings
Vol/bind16
ISSN1945-7898

Fingerprint

Tendons
Musculoskeletal system
Pulleys
End effectors
Patient rehabilitation
Exoskeleton (Robotics)

Citer dette

Abdelhafiz, M., Spaich, E. G., Dosen, S., & Struijk, L. N. S. A. (2019). Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton. I 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) (s. 1073-1078). IEEE. I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind. 16 https://doi.org/10.1109/ICORR.2019.8779547
Abdelhafiz, Mohamed ; Spaich, Erika G. ; Dosen, Strahinja ; Struijk, Lotte N. S. Andreasen. / Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE, 2019. s. 1073-1078 (I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind 16).
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title = "Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton",
abstract = "A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.5 times the distal interphalangeal joint angle. The study aimed to comply with this constraint, by simultaneously distributing the forces over the distal and middle finger phalanges. For evaluation, the voluntary and exoskeleton flexions were compared based on the relation between the proximal and distal interphalangeal joint angles. The results showed that during the exoskeleton flexion the relation between the interphalangeal joints complied with the biomechanical constraint, where the proximal interphalangeal joint angle was 1.5 times larger than the distal interphalangeal joint. This ensures that the mechanism flexes the finger comfortably. The proposed solution is therefore a promising design for a novel soft exoskeleton that will be used for training and assistance of patients with hand paralysis.",
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Abdelhafiz, M, Spaich, EG, Dosen, S & Struijk, LNSA 2019, Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton. i 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE, I E E E International Conference on Rehabilitation Robotics. Proceedings, bind 16, s. 1073-1078, International Conference on Rehabilitation Robotics 2019 (ICORR 2019), Toronto, Canada, 24/06/2019. https://doi.org/10.1109/ICORR.2019.8779547

Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton. / Abdelhafiz, Mohamed; Spaich, Erika G.; Dosen, Strahinja; Struijk, Lotte N. S. Andreasen.

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE, 2019. s. 1073-1078 (I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind 16).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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PY - 2019

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AB - A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.5 times the distal interphalangeal joint angle. The study aimed to comply with this constraint, by simultaneously distributing the forces over the distal and middle finger phalanges. For evaluation, the voluntary and exoskeleton flexions were compared based on the relation between the proximal and distal interphalangeal joint angles. The results showed that during the exoskeleton flexion the relation between the interphalangeal joints complied with the biomechanical constraint, where the proximal interphalangeal joint angle was 1.5 times larger than the distal interphalangeal joint. This ensures that the mechanism flexes the finger comfortably. The proposed solution is therefore a promising design for a novel soft exoskeleton that will be used for training and assistance of patients with hand paralysis.

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Abdelhafiz M, Spaich EG, Dosen S, Struijk LNSA. Bio-inspired tendon driven mechanism for simultaneous finger joints flexion of a soft hand exoskeleton. I 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE. 2019. s. 1073-1078. (I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind 16). https://doi.org/10.1109/ICORR.2019.8779547