Design and Kinematic Optimization of a Novel Underactuated Robotic Hand Exoskeleton

TL;DR

This paper introduces a novel underactuated robotic hand exoskeleton designed for grasping assistance, emphasizing adaptability, comfort, and optimized kinematic performance through analytical and experimental validation.

Contribution

The study presents a new linkage-based exoskeleton with optimized link lengths for improved grasping, combining adaptability, comfort, and effective force transmission.

Findings

Optimized link lengths for effective grasping

Prototype successfully tested on various objects

Device provides adaptive and comfortable finger support

Abstract

This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the finger phalanges during flexion/extension of the fingers, while providing automatic adaptability for different finger sizes. Thus, the easiness of the attachment to the user's fingers and better comfort have been ensured. The analyses of the device kinematic pose, statics, and stability of grasp have been performed. These analyses have been used to optimize the link lengths of the mechanism, ensuring that a reasonable range of motion is satisfied while maximizing the force transmission on the finger joints. Finally, the usability of a prototype with multiple fingers has been tested during grasping tasks with different objects.